The real Mrs Skerrett never married and died at the age of 94.
The Duchess of Sutherland is inaccurately depicted as carrying on an romance with prince (later duke) Ernest of Saxe-Coburg and Gotha, who is also inaccurately depicted as being unmarried at the time. Harriet Sutherland had a famously happy marriage with the Duke of Sutherland and they had these 11 children.
Far from being a resident antagonist to the Queen, the Duke of Cumberland became King of Hanover in his own right at the death of King William, and relocated to his new domain a week later.
Princess Feodora did not live in the palace and hence would not have been in a position to sell invitations to a ball. There is no evidence that King George IV wanted to marry her, and she was eager to leave Kensington Palace permanently after marrying the Prince of Hohenlohe-Langenburg.
There is no evidence that she was a scheming, jealous sister who fled Langenburg and refused to return to her home.
Robert Peel's Private Secretary Edward Drummond is shown as having a relationship with Lord Alfred Paget, but there's no evidence that either of the men were gay or had any same-sex relationships. Drummond was fatally shot in 1843. Alfred Paget became the Queen's Chief Equerry in 1846.
Throughout the series, Victoria's dresses have zippers, some of which are even used on screen. Zippers were invented in 1851, and weren't introduced to the public until the Chicago World Fair in 1893, where they were met with little commercial success. The first use of a zipper in clothing occurred in 1925, 24 years after Queen Victoria died.