Boris Johnson is considering plans to replace Royal Yacht Britannia with two new £150m ships paid for by the foreign aid budget, The Daily Telegraph can disclose.

Mr Johnson has been in talks with former International Development secretary Penny Mordaunt over plans dubbed "Britannia 2.0" for two new ships to be deployed around the world to help with relief efforts.

The new ships - with one called "Britannia" and the other names the "Florence Nightingale" or "Mary Seacole" - would be made available to members of the royal family for overseas tours to Commonwealth and other countries.

The original HMY Britannia is now a popular tourist attraction in Edinburgh after it was controversially decommissioned by former Prime Minister Tony Blair in 1997.

Mr Johnson told party members during the Tory leadership campaign that he would ask the Queen if she wanted a new yacht before commissioning a new one in July.

The Telegraph can disclose that Mr Johnson held talks with Ms Mordaunt in August about her plans and is due to receive a written submission later this month.

Ms Mordaunt has worked with consultants, the Navy, charities and merchant shipping to develop the concept dubbed “Britannia 2.0”. The first ship would cost around £150million, with the second slightly less.