The meeting with officers and soldiers who worked with Rigby was added to a previously planned visit to the barracks.
Rigby was killed by Islamic extremists last week as he was walking back to the barracks after a works shift at the Tower of London.
Buckingham Palace said Friday the queen talked privately with personnel who had coordinated the response to the slaying and with some of Rigby's officers.
The meeting was part of a visit to the new home of the King's Troop Royal Horse Artillery, a mounted ceremonial unit.
