In Africa, the queen’s death renews a debate about the legacy of the British Empire.

Though Queen Elizabeth II was revered by many in Africa, her death also reignited a different sort of conversation — one that touched on the legacy of the British Empire and the brutality the monarchy meted out to people in its former colonies.

In a younger generation of Africans growing up in a post-colonial world, some lamented that the queen never faced up to the grim aftermath of colonialism and empire, or issued an official apology. They said they wanted to use the moment to recall the oppression and horrors their parents and grandparents endured in the...