Queen with staff on cruise (6)
I believe the answer is:
wander
'cruise' is the definition.
(both can mean to move casually or aimlessly)
'queen with staff' is the wordplay.
'queen' becomes 'ER' (abbreviation for Elizabeth Regina).
'with' is a charade indicator (letters next to each other).
'staff' becomes 'wand' (wand is a kind of staff).
'er' put after 'wand' is 'WANDER'.
'on' is the link.
(Other definitions for wander that I've seen before include "Move about aimlessly" , "Leisurely walk" , "Stray" , "Roam about or digress" , "Meander" .)