Paul Greening was for some years a much respected and valued friend of the Royal Family. An emphasis on the training and guidance of people of all ranks had been the keynote of his success in the Navy, culminating in promotion to rear-admiral in 1979 and appointment as Naval Secretary, the career manager for all naval officers.

He was appointed Flag Officer Royal Yachts in 1981. His command, the Britannia, was launched in 1953 and had acquired a reputation for impeccable smartness, faultless seamanship and absolute discretion with regard to the Royal Family.

“Yachtsmen”, as the crew were called, were conventional naval ratings but a high proportion were dedicated to long service in the Britannia. Tasks were completed without audible commands; rubber deck shoes ensured quietness.

Unfortunately, Greening’s first problem was to deal with a homosexual scandal which resulted in the dismissal of several yachtsmen and prurient press coverage. The next challenge to the Royal Yacht’s discretion was the honeymoon voyage of the Prince and Princess of Wales in 1981. Having stayed at the home of Earl Mountbatten at Broadlands, Hampshire, they flew to Gibraltar for a 12-day Mediterranean cruise, leaving the Britannia in the Red Sea after a visit to Egypt and meeting President Sadat and his wife. Throughout, Greening used all his cunning and local knowledge to avoid sightseers and press boats and helicopters.

Part of the justification for the Royal Yacht had been the theory that she would be available as a hospital ship in wartime, so it was a disappointment to Greening that she did not take part in the Falklands conflict in 1982. Although Britannia had been deployed in fleet tactical exercises in the past, her radio, radar and command equipment had suffered from years of financial stringency and were obsolete. More importantly, the introduction of gas-turbine propulsion throughout the fleet had caused a general change to distillate diesel fuel while Britannia and the carrier Hermes were the only ships remaining on heavy furnace fuel oil. She was likely to be a logistic liability.

Under Greening’s captaincy, Britannia toured the world on royal and state visits including twice to Australia, twice to Canada, New Zealand, the US, Mexico, Sweden and Portugal. He was appointed KCVO in 1985 upon relinquishing command.

In 1986 he was invited to become Master of the Household, a position he held until 1992. The Master of the Household’s department is the largest in the Royal Household; its staff of more than 250 has a wide range of skills and professions and is responsible for arranging hospitality for all guests visiting the royal residences, as well as for members of the Royal Family. Besides the Royal Post Office, the Master deals with housekeeping and all domestic arrangements, catering and official entertaining at Buckingham Palace and other residences. Greening was, exceptionally, advanced to GCVO for his services.

Paul Woollven Greening was born in 1928. He joined the Navy from Pangbourne nautical college in 1946. He served in a total of 12 ships; his commands were, as a lieutenant-commander, the minesweeper Asheldam and the landing ship Messina, while as a commander then captain he commanded the minesweeper Lewiston with the 2nd Minesweeping Squadron and subsequently the frigates Jaguar and Aurora, in which he was senior officer of the 2nd Frigate Squadron, Far East Fleet.

His staff appointments included fleet plans officer for the Far East Fleet from 1969 to 1970, Captain Naval Drafting from 1971 to 1974, the post that organises the manning of all ships and establishments; then director of seaman officers’ appointments and from 1976 to 1978 captain of Dartmouth naval college.

Greening was particularly noted for his excellent judgment and his calm, sensible way of doing business. He was lucid and quietly spoken, and his sailors held him in great affection. As a seaman he was a superb ship handler and as a staff officer a master of detail.

He was a council member of the Mission to Seafarers and was admitted a Younger Brother of Trinity House in 1984. His wife, Monica, whom he married in 1951, predeceased him. He is survived by their son and daughter.

Rear-Admiral Sir Paul Greening, GCVO, Master of the Royal Household 1986-92, was born on June 4, 1928. He died on November 5, 2008, aged 80