She is believed to have taken advice from her security staff following the Duke of Edinburgh’s crash.
Queen Elizabeth, who will be 93 next month, is the only person in the UK who is allowed to drive on roads without a licence.
She is known to be a car enthusiast and has several cars including Land Rovers and Jaguars.
Prince Philip’s crash in January, though, when he rolled his Land Rover after hitting another car, has made her think twice about driving herself.
The Duke decided to call it a day on driving weeks after his crash.
The Queen was criticised after she was spotted driving on public roads near Sandringham without a seatbelt, days afterwards.
It is now said that she will be driven on public roads but may still get behind the wheel on private property.
Prince Philip crashed when he hit a Kia on January 17, this year as he pulled out from a side road on to the A149.
A witness reportedly said he was shaking and shouting “get me out” but later was found to have avoided injury.
A woman in the Kia, Emma Fairweather, suffered a broken wrist.
The prince wrote her a letter wishing her a “speedy recovery” and that he had failed to see her coming due to the sun hindering his vision.
A Buckingham Palace spokesperson declined to comment.