Nearly 40 years later, Michael Fagan claims he broke into the London palace because he thought the monarch could help him and insisted he never intended to cause her any alarm.
Mr Fagan, then 33, was “fixated” on the Queen who demanded to know what he was doing before she ran out of the room in her nightie to get help in July 1982.
The brief encounter was one of the worst royal security breaches in the 20th Century after Mr Fagan climbed into Buckingham Palace through an open window, despite high security.
Mr Fagan, who says he was depressed after his wife left him, broke into the palace twice within a matter of weeks.
He claimed he urinated in corgi food and downed red wine. He later blamed magic mushrooms.
Mr Fagan told the Sun he was left to raise his four young children on his own and wanted to find out if Her Majesty could help solve his problems.
The retired decorator scaled a 10ft railing and climbed down a drainpipe and crawled through an open window.
He wandered the halls and slipped past staff, wearing just jeans and a T-shirt, he reportedly took off his socks and sandals.
Mr Fagan triggered an alarm but officers in the palace police control room turned it off twice thinking the system was faulty.
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In previous interviews, Mr Fagan said the monarch told him to ‘get out, get out’.
He claims the Queen climbed out of bed told him: “Just one minute, I’ll get someone.”
She ran out of the room barefoot in just a knee-length nightie with a Liberty print.
Mr Fagan had smashed a glass ashtray before entering the room, which he claims he did so he could use the shard to cut through pigeon netting on his way down the drainpipe.
The prowler sat on the bed for three minutes before a footman entered and said: “F*** me, you look like you could do with a drink.”
Mr Fagan was interrogated by Special Branch detectives at a police station but determined he posed no threat to the royals.
He was not charged with a crime and claims the palace officials did not want the Queen to give evidence in court.
The break-in happened just two weeks after Princess Diana gave birth to Prince William.
Mr Fagan claims he entered a room full of gifts of the newborn and saw doors with nameplates reading, ‘Diana’s room’ and ‘Charles’s room’.
He said: “People who have done marvellous things get to kneel in front of her to be honoured, but I actually sat on her bed and almost got to talk to her.”
The incident is set to be featured in a new series of The Crown with Olivia Colman as the Queen and actor Tom Brooke as Fagan.