President Sheikh Khalifa sent a telegram to the UK monarch on Friday, state news agency Wam reported.
Similar messages of sympathy were sent by Sheikh Mohammed bin Rashid, Vice President and Ruler of Dubai, and Sheikh Mohamed bin Zayed, Crown Prince of Abu Dhabi and Deputy Supreme Commander of the Armed Forces.
Sheikh Mohammed bin Rashid also expressed his sympathies in a tweet describing the late Duke of Edinburgh as a close friend of the UAE.
"On behalf of people of UAE, I extend my sincere condolences to Queen Elizabeth II and the people of United Kingdom over the demise of Prince Philip, Duke of Edinburgh," the Vice President and Ruler of Dubai tweeted.
"A close friend to the UAE and other nations, he will always be remembered for his devotion to his country and people."
On behalf of people of UAE, I extend my sincere condolences to Queen Elizabeth II & the people of United Kingdom over the demise of Prince Philip, Duke of Edinburgh.A close friend to the UAE & other nations, he will always be remembered for his devotion to his country and people pic.twitter.com/5Nzqvdypp7
Sheikh Mohamed bin Zayed also tweeted his condolences.
My deepest condolences to HM Queen Elizabeth II, HRH Prince Charles, the Royal Family, and the British people on the passing of HRH Prince Philip, the Duke of Edinburgh. May you be blessed with comfort and solace during these difficult times.
Prince Philip, the Duke of Edinburgh, who has been a constant presence at the Queen's side, was in hospital for a month after being admitted as a precautionary measure on February 16.
He was discharged on March 16 after treatment for an infection and successful surgery for a pre-existing heart condition.
The UAE ambassador to the UK also paid tribute to the late Duke of Edinburgh.
I would like to offer my deepest condolences to the Queen and the British Royal Family on the passing of Prince Philip, Duke of Edinburgh. He will be remembered as a good friend to the UAE and a positive influence on causes such as sustainability and environmental protection. pic.twitter.com/Li9KZeYZ5A