Foy, 32, described meeting monarch during PEOPLE and Entertainment Weekly‘s red carpet show.
“It was very brief,” she said. “She touched my hand and I touched hers.”
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The British actress is nominated for two Screen Actors Guild Awards, including for outstanding performance by a female actor in a drama series and outstanding performance by an ensemble in a drama series for The Crown.
Foy won the Golden Globe for best actress in a drama series earlier this month.
“I’m having an out-of-body experience,” she said accepting the Golden Globe. “When you play a real-life person, it’s tricky and you rely very much on the people around you. A big shout out to John Lithgow and Matt Smith.”
Foy thanked the Queen when she won, saying, “She’s been at the center of the world. I think the world could do with a few more women at the center of it.”