Meghan, who was wearing a white Calvin Klein dress and a white Amanda Wakeley coat, held hands with Harry as she entered the museum where she was greeted with flowers given by 12-year-old Sage Saunders.
The couple smiled as a robotic tortoise puppet handed them their tickets for The Wider Earth.
The couple’s visit ended with the show which chronicles 22-year-old Charles Darwin’s expedition around the world on HMS Beagle.
The visit marks their support of the Queen’s Commonwealth Trust (QCT) and the production’s official charitable partner, The Queen’s Commonwealth Canopy (QCC).
The Queen’s Commonwealth Canopy conserves indigenous forests across the globe and 75% of Pacific Islands are now part of the canopy.
Harry and Meghan unveiled six dedications to the QCC during their tour of Australia, New Zealand, Fiji and Tonga, and also welcomed commitment to the initiative by its latest member, Kiribati.