The book titled, "India's Indira: A Centennial Tribute", compiled by the Indian National Congress, consists of articles, essays, photographs of the first woman prime minister of India.
Speaking at the launch, the queen remembered Indira Gandhi for being a powerful woman and a towering personality.
"I still remember her photograph with the then American president Richard Nixon. She wasn't a tall woman, but she was a towering figure.
"Mrs Gandhi was a female icon and she showed it to the world what women are capable of doing if they decide something," she said.
"I used to admire the white streak of hair she had. Although I was very young, I still wanted that streak of white hair," the queen said.
The book, edited by senior leader Anand Sharma, has several photographs of Indira Gandhi and Jawaharlal Nehru contributed by the royal family.
The book also has a chapter by former Indian president Pranab Mukherjee.
Talking about Gandhi's leadership skills, Tharoor said when she had become the first female prime minister of India, many had wondered if she was capable of the job.
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