The monarch recalled presenting the World Cup trophy to Bobby Moore in 1966 as she praised the present crew’s “spirit, commitment and pride with which you have conducted yourselves”.
And in a letter to the squad, the prime minister mentioned they’d “lifted the spirits of the whole country”.
The Duke of Cambridge mentioned he “can’t really believe this is happening”.
Prince William, who’s president of the English Football Association, urged the squad to “bring it home” and mentioned the crew had already displayed “the very best of England”.
Gareth Southgate’s crew play Italy at Wembley on Sunday at 20:00 BST.
The Queen’s message hailed the “spirit, commitment and pride” of the England gamers.
She wrote: “Fifty-five years ago I was fortunate to present the World Cup to Bobby Moore and saw what it meant to the players, management and support staff to reach and win the final of a major international football tournament.
“I wish to ship my congratulations and that of my household to you all on reaching the ultimate of the European Championships, and ship my good needs for tomorrow with the hope that historical past will document not solely your success but in addition the spirit, dedication and delight with which you might have performed yourselves.”
In his letter, Mr Johnson told the team they had “already made historical past” by taking England into the final of a major international competition for the first time in 55 years.
“You have solid a band of brothers whose power and tenacity and teamwork – and sheer aptitude – appear to shine in every part you do,” he said.
“You have lifted the spirits of the entire nation, and tomorrow we all know you’ll be able to elevate that trophy too.
“We are not just hoping or praying. We believe in you, Gareth, and your incredible squad.
“On behalf of the whole nation, good luck, have an amazing recreation – and convey it residence!”
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William added: “What a crew efficiency it has been. Every member of the squad has performed their half, and all of the again room crew as properly have been really important.
“I can’t really believe this is happening. So exciting and I just wish you the very best of luck.
“You carry out the easiest of England and we’re all behind you. The entire nation is behind you. So, carry it residence.”
Meanwhile, Labour leader Sir Keir Starmer described the team as “position fashions” as he urged them to “carry it residence”.
“On and off the sector, you have proven the perfect of England throughout this match,” he said.
“You’ve been as fearless because the three lions on our crest. You’ve lit up this match. And despite those that tried to undermine you, you have used your platform to face up for our shared values as a rustic.”
Speaking at a news conference on Saturday evening, Southgate said: “It has been improbable to have the letter from the Queen and the prime minister to the entire crew – and the popularity the gamers have gone about this in the appropriate means.
“But we’re in a final and we’re here to win. Now we want to go and bring the trophy home.”
Earlier on Saturday, supporters lined the street as they cheered the crew bus off from the England coaching advanced close to Burton upon Trent. The crew stayed in Watford, nearer to Wembley stadium, on Saturday evening.
Captain Harry Kane mentioned: “To see the fans on the street and see the reception we have had, it has just shown us how big of an occasion it is.
“We understand how a lot it means to the English followers so we’re proud to be representing them and hopefully we are able to do them proud tomorrow evening.”
The Queen is not the only person wishing the England team well, with Kane revealing that actor Tom Cruise called the squad.
He told BBC Radio 5 Live: “We really had Tom Cruise get in contact yesterday night. You get everybody who loves soccer.”
Kane added: “We had been lucky sufficient to have a watch of certainly one of his movies, so I believe he was over right here within the UK and he simply dialled in and Facetimed us simply to want us the perfect as a gaggle. So that was good of him.
“I’m not sure if he will be there at the final or not, but football is such a big part of the world and it’s nice to have that support.”
A great luck message from David Baddiel, Frank Skinner and the Lightning Seeds – who’re behind the soccer anthem Three Lions (Football’s Coming Home) – has additionally been projected onto the white cliffs of Dover forward of the match.
England’s route to the final
13 June, group stage: England beat Croatia 1-0, with Sterling scoring the only goal of the game
18 June, group stage: England and Scotland draw 0-0 at Wembley
22 June, group stage: England beat Czech Republic 1-0 to top Group D, with Sterling scoring again
29 June, round of 16: England beat Germany 2-0 thanks to goals from Kane and Sterling
3 July, quarter-final: Kane, Maguire and Henderson score as England beat Ukraine 4-0
7 July, semi-final: England beat Denmark 2-1 after extra time, with Kane scoring the winner