The King told an audience of MPs and peers that the future of Gibraltar would be determined by the “two governments” of the UK and Spain.He said: “During our rich and fruitful history there has been also estrangement, rivalry and distance but the work and determination of our Government, authorities and citizens have relegated such events to the past.”I am certain this resolve to overcome our differences will be even greater in the case of Gibraltar and I am confident that through the necessary dialogue and effort our two Governments will be able to work towards arrangements that are acceptable to all involved.” Prince Charles and Camilla greet King Felipe and Queen Letizia Members of the Foot Guards are seen marching along the Mall at the start of Spanish King Felipe VI and Queen Letizia’s three-day state visit The day was otherwise filled with pomp and pageantry, with King Felipe and Queen Letizia ceremonially welcomed to the UK by the Queen and Duke of Edinburgh at Horse Guards Parade.The Queen, Duke and King are all descended from Queen Victoria and greeted one another warmly as they embarked on the first State Visit by a Spanish monarch since King Juan Carlos toured Britain in 1986.The Prince of Wales and the Duchess of Cornwall had escorted the King and his wife from their London hotel to Horse Guards Parade, arriving in chauffeur-driven limousines. The Queen introduced the Spanish couple to leading figures from UK national life, including Mrs May, and in the afternoon, the Royal party were shown around an exhibition of items relating to Spain from the Royal Collection. He said: “Any dialogue there may be going forward, something which we would welcome as long as they obviate the issue of sovereignty which as far as we are concerned is not up for discussion or negotiation.”Conservative MPs had raised the prospect of walking out of the address but ultimately decided against it.But Tory MP Andrew Rosindell said afterwards: “It is inappropriate for a visiting Head of State to talk about ‘arrangements’ over British territory. It’s none of his business.”The King must realise that there will never be a discussion with him that will lead to one inch of Gibraltar being ceded to Madrid.” Want the best of The Telegraph direct to your email and WhatsApp? Sign up to our free twice-daily Front Page newsletter and new audio briefings. Spain was accused of trying to use Brexit to make a “land grab” for Gibraltar after EU negotiating guidelines suggested it would be given an effective veto on whether the deal applies to the territory.Damian Green, the First Secretary of State, reiterated the UK’s commitment to Gibraltar before the King’s address, telling MPs that “the primacy of the wishes of its inhabitants, which are overwhelmingly to stay British, will be respected”. Show more Carriage procession: Queen leaves with King Felipe. Duke of Edinburgh accompanies Queen Letizia #SpainStateVisit pic.twitter.com/0oH71G6ozt— Chris Ship (@chrisshipitv) July 12, 2017 There was also a traditional exchange of gifts: The Queen was presented with copies of love letters between Queen Victoria’s granddaughter and a king of Spain and King Felipe given a bound album featuring pages from the Royal Library and Royal Archives. The Queen and Prince Philip drive to Horse Guards Parade. #SpainStateVisit 🇪🇸🇬🇧 pic.twitter.com/nHBwuUnw1P— Majesty/Joe Little (@MajestyMagazine) July 12, 2017 Fabian Picardo Chief Minister of GibraltarCredit:Paul Grover for The Telegraph But Mr Picardo told Sky News the King’s failure to acknowledge Gibraltar’s leadership “really harks back to a time when the governments in Madrid and London might make decisions over the heads of the people of Gibraltar”.He said that Spain is “seeking to ignore” Gibraltar and that the territory should have the “most important voice” in any talks about its future. Gibraltar has responded with fury after the King of Spain failed to acknowledge the territory’s right to determine its own future in an address to Parliament.The monarch said he wanted a “dialogue” between Madrid and London on the status of The Rock in a snub to Gibraltar’s own democratically elected Government.The omission prompted Fabian Picardo, Gibraltar’s Chief Minister, to warn that the issue of sovereignty is “not up for discussion or negotiation” as he accused the King of “seeking to ignore” the wishes of the people who live on The Rock.Tory MPs reacted angrily to the King’s address saying that the future of the territory is “none of his business”. However, they did not carry out a threat to walk out as he was speaking. Spain has long disputed the status of Gibraltar, a British overseas territory, but Theresa May has previously insisted that its future will not be up for discussion during Brexit talks with the EU.