The Queen was photographed with the stick, which is taller than a conventional walking stick, at an event marking her Platinum Jubilee at her Sandringham estate, the publication added.
The event, attended by local community groups, celebrated Her Majesty becoming the first British monarch to reach 70 years on the throne.
"I recognized the stick instantly as it was always kept in a pot by the front door," Prince Philip's biographer, Gyles Brandreth, told The Telegraph. "It was the Duke's stick, and it is very touching that the Queen has started using it."
The Queen was photographed using a cane at a royal engagement in October, the first time she had been seen using one in public since 2003. Her Majesty's engagement on Saturday is thought to be the first time she has publicly used her late husband's walking stick.
"It is with deep sorrow that Her Majesty The Queen announces the death of her beloved husband, His Royal Highness The Prince Philip, Duke of Edinburgh," the palace said in a statement obtained by Insider at the time. "His Royal Highness passed away peacefully this morning at Windsor Castle."
Buckingham Palace did not immediately respond to Insider's request to comment.
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