Jana Bennett, director of BBC Vision, said today that the five-part series is now expected to air on BBC One before Christmas.
The programme, which was initially known as 'A Year with the Queen', has been renamed 'Monarchy: The Royal Family at Work'.
The series was filmed by 'Wife Swap' producer RDF Television and looks at the working lives of the Queen and other members of the Royal Family.
In July, BBC One found itself at the centre of the so-called "Queengate" controversy when Fincham showed journalists a preview of the series, which mistakenly claimed the Queen had stormed out of a photo session with photographer Annie Leibovitz.
The story created an international media storm and the aftermath saw Fincham and RDF Television's chief creative officer Stephen Lambert resign. The BBC and ITV also imposed a ban on new commissions from RDF Television.
The series will now be completed by a new project team, set up and supervised by the BBC. This team will consist of staff from the BBC and RDF Television, as well as freelance producers.
Veteran producer Denys Blakeway will head up the team as an independent executive producer, reporting to BBC commissioning executive Martin Davidson.
The BBC stressed that all profits from the series will be given to charities nominated by the royal household and agreed by all parties.
Bennett said: "There has never been any doubt about the integrity of the films themselves: they are a serious and important look at the way the monarchy works. With exceptional access, viewers will get a remarkable picture of the work of the Royal Family over the course of a year."
Last week, RDF warned its financial performance would be hit more than previously thought by the BBC's and ITV's decision to suspend new commissions.
ITV this month lifted its ban, but RDF and the BBC are still discussing the lifting of the corporation's ban.
Picture: The Queen visits Brighton. The five part series, 'Monarchy: The Royal Family at Work'.
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