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The French president addressed the monarch as she prepared to appear before thousands of royal fans at Trooping the Colour on Thursday.
“Madame: During the past 70 years, the President of the French Republic has relied on very few constants at the international level,” he said.
“Times have changed, Europe has evolved, our continent is again experiencing war. Through these transformations, your devotion to our alliance and to our friendship has remained, and has helped build the trust that brought freedom and prosperity to our continent.
“Since your first state visit to France, when you were welcomed to Paris by a generation who, alongside your Army, Navy and Air Force, had fought for the freedom we now enjoy, you have visited us many times. You have shared our joys and seen the deep affection and admiration that the people of France have for you.
“You have also visited the graves where so many of your young men lie and seen the respect and honour we constantly pay to those who sent from your homes to protect ours.
“You are the golden thread that binds our two countries. The proof of the unwavering friendship between our nations.”
Mr Macron referenced her first toast to one of his predecessors, Rene Coty, which he said reminded France that “trust and understanding should endure forever”.
“Your words were matched by a lifetime of devotion to our alliance,” he said.
Continuing his video message, Mr Macron said: “From the dark days when your family welcomed General de Gaulle in your home, to his joy to welcome you in his, you have been a constant presence and a source of wisdom for the leaders of our two countries.
“This year, the 70th of your reign, we celebrate your achievements. We are grateful for your courage and we share the respect and love that British people and Commonwealth have always shown you.”
Continuing in French, Mr Macron added: “You are our friend, such a close ally, our example of service to others.
“Celebrating you today is to celebrate the sincere and deep friendship that unites our two countries, and your devotion to it. Your Majesty, it is my privilege to extend to you, on behalf of the French people, my heartfelt congratulations on your Platinum Jubilee.”
The French president announced on Wednesday that his country would make a present of a horse to the Queen, to mark the celebrations of her 70 years on the throne.
The Elysee said Mr Macron decided to give the Queen, a known horse lover, a seven-year-old grey gelding belonging to the largely ceremonial French Republican Guard named Fabuleu de Maucour. It was to be delivered to Windsor Castle on Wednesday.
The horse was trained to carry the standard-bearer of the Guard. It paraded on Paris' Champs-Elysees avenue on May 8, ahead of the presidential cortege, for the ceremony marking the anniversary of the victory of the Allied forces over Nazi Germany in the Second World War.
Mr Macron will pay a formal homage to the Queen on Thursday during a flame rekindling ceremony at the Arc de Triomphe.
He will lay a wreath at the Tomb of the Unknown Soldier, in the presence of British Ambassador to France Menna Rawlings.
Both the British and the French national anthems will be played, the Elysee said.