It was waved off by spectators and celebrated with a fireworks display late Thursday
The 3,000-guest ship will make her first US call in New York on 17 January.
Queen Anne will call at 30 different ports across 18 countries.
Highlights include calls to Miami, San Francisco, the Panama Canal, Honolulu, Auckland, Sydney, Hong Kong and more.
Guests will also cross the International Date Line on 12 February.
Queen Anne becomes the 14th ship in Cunard’s history to undertake a full world voyage.
The world cruise includes overnight stops in New York, Honolulu, Sydney, and Singapore, with Queen Anne returning to Southampton on 27 April.
On board, guests will enjoy curated experiences including a special world voyage cocktail party and a shoreside Gala Event.
There are also talks from notable speakers, such as Olympic gold medallist Rebecca Adlington OBE, hypnotist Paul McKenna, actor Charley Boorman and former Wimbledon champion Pat Cash.
Tags: Queen Anne, world cruise, Cunard