The Queen and the Nobody Boy: Hodie's Journey (A Tale of Fontana, #2) by Sam Broad

Hodie is the unpaid odd-job boy at the Grand Palace in the Kingdom of Fontania. Fed-up, he decides to leave and better himself in the South. But the young Queen, 12 year old Sibilla, is fed-up, too, because of gossip about her lack of magical ability. She decides to go with him, insisting he go north to get his mother's bag back from the Emperor of Um'Binnia.