The UK may technically have some old law on the books stating this but it's never enforced. I mean, the Sex Pistols ("God save the queen... A fascist regime...") demonstrated this quite convincingly.
I did hear about someone getting arrested for yelling at Prince Andrew in a funeral procession, but that was for breach of the peace during a funeral and (importantly) was thrown out in court.
Growing up, I saw plenty of posters with words like "The great Royal debate: should we hang them, or should we shoot them?" and no one cared in the slightest.