The actor was filmed in character visiting Buckingham Palace to meet with the royal before climbing into a helicopter together and appearing to parachute into London's Olympic Stadium during the extravaganza in July (12).
Craig reveals he used a day off from shooting new 007 movie Skyfall to film the sequence - and as a result, he wasn't on top form.
He is quoted by Britain's Daily Mirror as saying, "She was fun, incredibly game. We had a short space of time and I was a bit grumpy as it was my day off and suddenly I am at the Palace with the Queen at her private chamber.
"And she improvises a little bit. She was supposed to be sitting at the desk and she asked if she could write, so she pretended to write."