Also not a practicing historian (although I have my BA in History), but extremely interested in the Tudor time period.

From what I can remember right now, Mary I supported her mother and for that was separated from her for many years and not allowed to see her when she was dying. It was very painful for her, since as a child she was her father's darling--Henry doted on her. She loved her father but was extremely distressed at what he was putting her mother through. She never warmed to Anne Boleyn and considered her the harlot who stole her father from both her and her mother.

Elizabeth was very young when her mother died. While growing up she quickly learned to do as her father wished in order to survive, and continued the same thing when Mary became queen. As alanaa92 says, she never spoke of her mother as an adult. But there were indications that she loved her and her family, and cared for them as much as she could. When she became queen remaining members of the Boleyn family were elevated to positions at court, and good marriages arranged for the women. She also had a locket with her mother's picture.

Alison Weir is an excellent historian who has written many books about the Tudor era. I would recommend "Elizabeth the Queen: Life of Elizabeth I" and "Children of England: The Heirs of King Henry VIII" for more information on both Mary I and Elizabeth I. For their mothers I would suggest "The Six Wives of Henry VIII" and "The Lady in the Tower: The Fall of Anne Boleyn", also by Weir. There are many more (especially about Elizabeth I), but she is one of my favourite authors. Hope this answers a bit of your question.

Caveat: I'm a public historian by training, Tudor history is just a hobby for me, but I'll share my somewhat general impressions. It's getting late, but I'd be happy to rifle through my books for some primary source evidence tomorrow.

As a young woman, before she was Queen, Mary was vocally in support of her mother, Catherine of Aragon, and spoke out against her father's marriage to Anne Boleyn. Mary suffered a great deal of neglect for her unwillingness to cooperate, and she wasn't welcomed back into the family fold until after Anne was killed and Henry's third wife encouraged a rapprochement.

Elizabeth was too young when Anne died to really know her mother, and she was very circumspect on the matter as Queen. It's hard to tell at what age she became aware of what went down. However, as Queen she did use her power to honor members of her mother's family, especially her cousins on that side, which would seem to indicate a quiet sympathy with her mother's cause. She was also eager to speak with people who had known Anne personally and was in possession of some of Anne's personal papers and jewelry.

Whatever their private thoughts on the matter, both women were pretty careful not to speak out against Henry VIII himself. For one thing, when he was alive he had fairly absolute power over them. Even Mary generally directed her criticisms against Anne and the Boleyn faction rather than at her father. For another thing, their own power flowed through him-- by which I mean, their own right to rule was based on his blood and his status. So later in life both women tended to emphasize their similarities to him in an effort to underline their own legitimacy and cement their dynastic rights.