June Kenton insisted her book entitled "Storm in a D-Cup" provided few details that would necessarily upset the royal customer - although clearly this is not now the case in the eyes of the royal household.
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.
Royal warrants are issued to trades people and companies who regularly supply goods or services to the monarchy with many considering it to be one of the highest business accolades in the UK. "I just think the world of them".
But Rigby & Peller confirmed the loss of the Royal warrant.
Kenton herself, however, believes that it is because of her book, but does not understand why the Palace mistook her intentions.
Trained at the Berlie Corsetry School, she has more than 60 years in the lingerie industry, and holds a lifetime achievement award from the United Kingdom industry.
Kenton, who was informed of the decision six months ago, is upset, but she's not alone.
Of their first meeting, Kenton said: "There are no words to describe the terror I felt".
The only other notable company to be stripped of its royal warrant was Harrods in 2000.
"The Philip/Harrods case suggests that removal of a Royal warrant is the Royal person's equivalent of expressing publicly his or her serious displeasure - an outlet that they do not have in many other public forums".
The Palace declined to comment on Thursday.
'However, the company will continue to provide an exemplary and discreet service to its clients'.
Kenton said she had been told by Buckingham Palace six months ago that they "didn't like the book" and she should no longer have a royal warrant.
Rigby & Peller, a luxury underwear firm founded in London, had held the royal warrant since 1960. She also references Diana, Princess of Wales.
Now there are three people, known as the grantors, who may award them - the Queen, the Duke of Edinburgh, and the Prince of Wales.