The 55-year-old was making a record 37th appearance at event, but a triumph at Badminton Estate in English county Gloucestershire had eluded the six-time Olympian.

Nicholson began the day in third place in the standings, following strong displays in both dressage tests and the cross-country round.

Riding on Nereo, Nicholson achieved a clear jumping round to pile the pressure onto German rivals Ingrid Klimke and Michael Jung, who were first and second overnight respectively.

Defending champion Jung was unable to respond, with the three-time Olympic gold medallist and his horse La Biosthetique Sam clipping the sixth fence to see their challenge fade.

Klimke's chance of victory would be dealt a blow on the same fence, but her effort would fade entirely when Horseware Hale Bob refused at the treble, dropping the German down to ninth overall.

"Of course I knew I would win Badminton one day," said Nicholson afterwards.

"I just didn’t know when."

Nicholson would end the four-day competition with a tally of 41.4 penalties, with Jung forced to settle for second place on 44.

The podium was completed by New Zealand's Tim Rice, as a clean round helped him finish with a total of 49.2 penalties.

The Badminton Horse Trials are part of the International Equestrian Federation's (FEI) Classics series.

Jung leads the overall series on 39 points, with France’s Maxime Livio 12 points behind his rival.