To insert a message into an existing queue, first create a new CloudQueueMessage. Then call the AddMessage method. A CloudQueueMessage can be created through a string (in UTF-8 format) or a byte array. This is the code that creates a queue (if it does not exist) and inserts the message 'Hello, World':
// Retrieve storage account from connection string.
CloudStorageAccount storageAccount = CloudStorageAccount.Parse(
CloudConfigurationManager.GetSetting("StorageConnectionString"));
// Create the queue client.
CloudQueueClient queueClient = storageAccount.CreateCloudQueueClient();
// Retrieve a reference to a queue.
CloudQueue queue = queueClient.GetQueueReference("myqueue");
// Create the queue if it doesn't already exist.
queue.CreateIfNotExists();
// Create a message and add it to the queue.
CloudQueueMessage message = new CloudQueueMessage("Hello, World");
queue.AddMessage(message);
Source: Introduction to Azure Message Queue > How to insert a message in the queue