"One day Columbo and the queen
They fell into a quarrel
Columbo showed his disrespect
By farting in a barrel.
The queen she called him horse's ass
And "dirty Spanish loafer"
They terminated the affair
By fucking on the sofa."
"The poems are known as the King Bolo series, and were at irregular intervals sent by the author to friends who included Conrad Aiken, Clive Bell, Bonamy Dobrée, James Joyce, Wyndham Lewis, and Ezra Pound."
The author was of course TS Eliot.
Columbo went on to have his own TV show, but I don't think the incident with the queen on the sofa was ever committed to film.