Zara Tindall falls in Burghley: The Queen falls during a competition, just months after her mother Princess Anne was kicked by a horse

Zara Tindall fell from her horse today at the Burghley Horse Trials in front of her husband and three children.

The 43-year-old daughter of Princess Anne was taking part in the event in Stamford, Lincolnshire, when she fell during a cross-country event.

She fell from her horse Class Affair at Rolex Corners and was eliminated from the competition, but fortunately Zara and her horse were uninjured.

Shortly before, she had almost fallen out of the saddle while jumping into the trout farm, but was able to hold on.

Zara's fall occurred just months after her mother, Princess Anne, was kicked in the head by a horse.

Zara Tindall rides Class Affair during the cross country portion of the Defender Burghley Horse Trials today

Zara Tindall rides Class Affair during the cross country portion of the Defender Burghley Horse Trials today

Zara Tindall on Class Affair competing in the dressage competition at the Land Rover Burghley Horse Trials on Thursday

Princess Royal, 74, suffered a bruise under her left eye and can remember “the purest truth” of the June 23 incident.

Anne was hospitalized with minor head injuries and concussion, but has since returned to her royal duties.

This is not the first time Zara has fallen during the Burghley Horse Trials.

In 2019, she was photographed falling from her horse during a show jumping competition. She had had several similar accidents in previous years.

Zara's husband, former rugby union player Mike Tindall, accompanied her to the Burghley Horse Trials today along with her daughters Mia (10) and Lena (6) and her son Lucas (3).

Mike, 45, was photographed carrying his youngest child across the grounds before his six-year-old daughter clung to his arm and was lifted just inches above the grass.

The royal also stopped to take photos with fans who spotted him on a day out with his family – snapped by his eldest daughter, 10-year-old Mia.

Mike Tindall tries to lift his daughter Lena off the ground after the siblings harmlessly fought at today's event

The 74-year-old princess suffered a bruise under her left eye and has “no memory whatsoever” of the June 23 incident.

Zara Tindall rides Class Affair during the cross country portion of the Defender Burghley Horse Trials on Saturday

Lucas Tindall takes part in the third day of the Burghley Horse Trials

Princess Royal visits the Riding for the Disabled Association (RDA) on 12 July

Lucas, three, shows his six-year-old sister Lena his karate skills

Zara Tindall during the veterinary inspection at the Defender Burghley Horse Trials on 4 September

Later in the day, Zara and Mike's three children visibly enjoyed their outing, getting ice cream and showing off their karate moves in the friends and family area.

Mike was even seen throwing three-year-old Lucas into the air after the little boy started a playful argument with his six-year-old sister Lena.

The 45-year-old was forced to end the harmless fight on the way to the event.

Zara's supportive husband Mike wore a casual white t-shirt and blue jeans at Burghley House, completing his ensemble with a baseball cap and khaki backpack.

Lena and Lucas were also casually dressed for the day, while their older sister Mia was her father's counterpart in jeans, a T-shirt and a baseball cap.

The Defender Burghley Horse Trials are an annual three-day event usually held in early September at Burghley House near Stamford.

Zara Tindall on Class Affair, at the dressage event on 5 September

Mike Tindall was joined by his daughters Mia (10), Lena (above), 6, and son Lucas (3) at Burghley House near Stamford, Lincolnshire on Saturday afternoon

Zara Tindall competes in the dressage event at the Burghley Horse Trials on September 5

Peter Phillips' girlfriend Harriet Spelling catches Lucas Tindall arguing with his sister Lena Tindal

Zara Tindall and her horse Class Affair are pictured at the first horse inspection at the Burghley Horse Trials

Zara is a serious international competitor in equestrian sports, having won a gold medal at the 2005 European Eventing Championships and a silver medal at the 2006 World Equestrian Games.

She was previously named BBC Sports Personality of the Year and nicknamed the “Royal Olympian.”