The Middleton family has complained after topless and bikini pictures of Pippa Middleton were published by two newspapers in what the Middletons claim is a breach of privacy.

The photographs were taken in 2006 and show the Middleton family swimming and sunbathing off their yacht in Ibiza. In one (slightly) salacious picture, Pippa Middleton can be seen from the side removing her bikini top, showing a pap-friendly glimpse of breast.

Other pictures show Kate Middleton, her mother Carole and sister Pippa in their bikinis.

The photographs were published in the Mail on Sunday and the News of the World, with the latter newspaper selling them as “topless pictures of Pippa Middleton”.

Both papers have now removed the pictures from their websites after the Middleton family complained to the Press Complaints Commission.

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The Middletons believe that the pictures are a breach of the PCC code, as they were taken of a private yacht moored off an island where the family had “a reasonable expectation of privacy”.

The Middleton family is also concerned about other embarrassing pictures of Pippa and her brother James which – although British newspapers have agreed not to publish them – are circulating on the web.

The PCC has already overseen an agreement with editors of British newspapers that the Duke and Duchess of Cambridge will not be harassed on their honeymoon.

However as the “topless” yacht pictures were previously printed in 2006 it could be argued by the papers that they were already in the public domain.

Last week the much more PR-pleasing pictures of Kate pushing a shopping trolley around Waitrose caused no such storm, showing as they apparently did how “down to earth” the Duchess is.