Alex Salmond tells Queen that independence is 'looming'

However, the First Minister came under fire from Holyrood opponents for "playing politics" with the Queen on such a formal occasion.

He reminded her that previous British monarchs had ruled Scotland and England as two sovereign nations, adding: "There's nothing unusual in that."

The speech was a reply to the Monarch's address at the official opening of the fourth session of parliament yesterday and its tone was more overtly political than is generally the case on such occasions.

The Queen, accompanied by Prince Philip, had earlier told MSPs that Scottish politics was not for the "passive, meek or faint-hearted".

Her role as a monarch of 16 other countries was used by the First Minister to provide reassurance over her future as an independent Scotland's head of state and he insisted that Scotland and England would always be "firm friends and equal partners".

Mr Salmond referred to her role as Queen of Scots and to Scotland's history as an independent nation - a status he hopes to restore.

He said: "This is a country increasingly comfortable in its own skin. We aspire to be more successful, more dynamic, fairer and greener; we want to uphold the values of the common weal, to protect the vulnerable, nurture the young.

"We want to emerge from current economic difficulties into better times."

He quoted back to the Queen words she used in her recent state visit to Ireland, describing links between "firm friends and equal partners".

Mr Salmond also described the distinctive cultures of the nations of the UK, adding: "Some of us believe the best way to articulate that uniqueness and tackle those challenges lies within ourselves and should be fully expressed within the work of this parliament.

"However, whatever constitutional path that the people of Scotland choose - and it is their choice to make - we will aspire to be, in your words, 'firm friends and equal partners'."

• Queen's speech: Holyrood 'has truly come of age'

• The right mix of formality and friendliness

But Liberal Democrat leader Willie Rennie said the tenor of Mr Salmond's speech hit the wrong note.

"I don't think it was appropriate," Mr Rennie said.

"He shouldn't really be playing politics with the Queen. It's a state occasion where it's supposed to be more diplomatic than political.

"When it comes to the debate about Scotland's political and constitutional future, he should just leave the Queen out of it. "She's not able to answer back on these occasions - she's a constitutional head, not a political head and therefore he should know better than to try and use it for his own advantage.""But it's all part of this wider agenda that the SNP have got to make independence sound normal.

"That's what is crafty and wily about Alex Salmond, but the stark truth is that he won't answer any questions about the real cost of independence."

The forthcoming wedding of the monarch's granddaughter Zara Phillips in Edinburgh's Canongate Kirk was also highlighted by Mr Salmond, who said the Royal Mile church was commissioned by James VII, king of both Scotland and England when these two countries had their own parliaments

"From 1603 until this parliament entered a rather long adjournment in 1707, your predecessors reigned over two sovereign nations - and there was nothing particularly unusual in that arrangement," he said.

"And today, Your Majesty, you come here as Queen of Scots but also as head of state of 16 different realms - and leader of a Commonwealth comprising 54 nations."

Mr Salmond added: "It is a role which you have always taken seriously and discharged flawlessly."

The home nations of Scotland, Ireland, England and Wales have "much to celebrate", Mr Salmond said, including the language of Shakespeare, James Joyce, Dylan Thomas and Edwin Morgan.

The Queen had earlier praised the parliament's previous presiding officers, who she said had contributed towards its "high reputation and good conduct".

She drew laughter from MSPs when she added: "No-one would ever argue that Scottish politics is the business of the meek, the passive or the faint-hearted.

"Accordingly, as the keeper and defender of the good name of this parliament, the Presiding Officer requires not only an acute sense of fairness and impartiality, but also the capacity and inclination to exercise careful judgment.

"Presiding Officer, as you embark upon this important task, I hope you will draw inspiration from the example of those who came before you, and the support of those in Scotland and beyond who wish this institution well."