The official Rigby & Peller statement announces that the firm is "deeply saddened" by the incident, but does not go on to describe why the cancellation happened "out of respect for her Majesty the Queen and the Royal Warrant Holders Association".
Mrs Kenton said there was "nothing" in the book to "be upset about", adding that it was an "unbelievable" decision. "I have never, ever spoken about what I do there with her, or the Queen Mother or Princess Margaret", she said.
General view of the Rigby & Peller store in Knightsbridge, London.
In her tell-all book, Kenton wrote about fitting bras for a semi-naked Queen, who had granted the company a sought-after royal warrant in 1960 under previous owners.
High-end lingerie brand Rigby & Peller has lost its licence with the Queen as the lingerie supplier to the royal family. She penned intimate details about measuring the half-dressed monarch in front of her corgis.
"I never met Diana's boys, but I used to give her lingerie and swimwear posters for them to put up in their studies at Eton", Mrs Kenton wrote.
She eventually sold it to Belgian lingerie company Van de Velde for £8million in 2011, but retained a seat on the board and continued to fit the Queen personally at least three times a year.
Insisting it was a sweet story of a corsetiere, Mrs Kenton said: "I probably should have submitted it to them but I didn't think anything would be required".
Rigby & Peller began providing bespoke undergarments to the Queen from 1960, and subsequently provided products to Queen Elizabeth the Queen Mother, Princess Margaret and Countess of Snowdon among other royals.
'However, the company will continue to provide an exemplary and discreet service to its clients'.
"I can confirm the warrant for Rigby & Peller is cancelled but I can't go into the details why", a spokesman for the Royal Warrant Holders Association told AFP. It's just upsetting at the end of my life, but what can I do.
Buckingham Palace said: "In respect of royal warrants, we never comment".
June Kenton, 82, who is still on the board of the company, published her memoirs entitled "Storm in a D-Cup" a year ago but said there was "nothing" in it that should have caused offence to the royals.
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