So pretty much as she normally appears now..
I did see Prince Phillip once in the 80's when he came to open the revamped university library in Manchester. Strangely he went in a side door and there was hardly anyone there. My main impression was that he was much smaller than I'd expected - a bit like a posh Albert Steptoe.
Well I have seen the Queen several times since, including then she did a walk about right next to where were standing (a security official came over and gave us prior warning. Seemingly we looked like a harmless bunch

) at the opening of the Scottish Parliament a few years back when I was doing my freelance photographer bit. That is when I and several others said hello and other similarly unimaginative comments to her, and she acknowledged us all. She is about the size I have always imagined her to be too.
As for Prince Phillip, well, I don't know about him being smaller than imagined, but I have also seen him several times at things. In fact, I was walking through the centre of London one evening and I saw him and Princess Anne being driven past in one of the Bentlys, complete with Police Escort of course.
I have seen most of the 'senior' Royals at one point or another, including Charles at Carlisle Station after stepping off the Royal Train hauled by The Duchess Of Sutherland (a steam loco), and he was reasonably tall and thin. Also Edward at the Royal Concert Hall in Glasgow (when I was a kid) and Harry various times also. In fact, the only ones of that I haven't actually seen were/are The Queen Mother, Camilla, Wils & Kate (oddly enough) and some of the other younger ones like the toilet seat hat wearing litter of Fergie's.
I was in London as a (not very successful) freelance photographer in a previous life you see, so I saw them a lot at events, especially the Queen, Philip and Princess Anne for some reason.