Kenton reveals such details as Princess Margaret's penchant for handmade swimwear (insisted on for her trips to Mustique) and describes giving Princess Diana posters of models in lingerie for her sons, William and Harry, "to put up in their studies at Eton". June told The Telegraph that she received a letter from the Lord Chamberlain in 2018 informing her that Rigby & Peller would be relieved of its duties as the official royal bra fitting company because of her book.
It was withdrawn after June Kenton, who fitted bras for the Queen, released a book called "Storm in a D-Cup".
Rigby & Peller said it was "deeply saddened" by the news but was "not able to elaborate further on the cancellation out of respect for her Majesty the Queen and the Royal Warrant Holders Association".
Luxury lingerie company Rigby & Peller has been stripped of its royal warrant after 58 years for revealing information about some of its customers - including the Queen and other members of the royal family.
Mrs Kenton bought the lingerie company with her husband in 1982 for £20,000 (US$27,000) before selling a majority stake in 2011 for £8 million (US$10.8 million).
Rigby & Peller is no longer allowed to display the royal coat of arms, confirmed the director of royal warrants at the Royal Warrants Holders Association.
While she does recount her first meeting with the monarch, she focuses on her surprise that the queen turned on the lights for herself, not the details of her fitting.
June, whose company held the royal warrant for 57 years, penned intimate details about measuring the half-dressed monarch in front of her corgis. "She's wonderful. I mean, don't you think she's incredible?" She was surprised at the response as, in her mind, "The book doesn't contain anything naughty". It's just upsetting at the end of my life, but what can I do.
"I'm very sad Buckingham Palace took exception to the story - it's a kind and gentle story about what went on in my life", Kenton told the BBC. "I can't fight with Buckingham Palace and I wouldn't want to", she said.
In a series of interviews, she told how the Queen Mother, who granted the firm a separate royal warrant from 1993, once confided that Princess Margaret liked to interfere with her choice of hats when her milliner arrived for fittings, but she still got her own way.
Harrods chose not to apply to have their warrant renewed in 2000 when Mohamed al-Fayed made a decision to end the store's links to the royal family following the death of his son, Dodi, and Princess Diana.