The UK has officially left the European Union after 47 years of membership – and more than three years after it voted to do so in a referendum.
What happens now?
UK citizens will notice few immediate changes now that the country is no longer in the European Union.
Most EU laws will continue to be in force – including the free movement of people – until 31 December, when the transition period comes to an end.
The UK is aiming to sign a permanent free trade agreement with the EU, along the lines of the one the EU has with Canada.
But European leaders have warned that the UK faces a tough battle to get a deal by that deadline.