Prince Charles appeared to be on form as he beamed to the cameras and accompanied his wife on the tour wearing a navy suit.
Princess Haya bint al-Hussein facilitated the refurbishment for the yacht after her father the King Hussein, provided sponsorship for the voyage.
Dressed in an elegant black and white striped dress, the wife of Sheikh Mohammed bin Rashid Al Maktoum, paired her outfit with a Chanel handbag and black wedges.
The yacht was used by the first all-female crew to sail in the Whitbread Round the World Race, in which the crew, lead by skipper Tracey Edwards, finished second in 1990.
'Maiden' will set sail again this September, skippered by Wendy Tuck, on a three-year voyage around the globe to fundraise for the Maiden Factor Foundation to promote the education of girls around the world.
It’s been a busy few weeks for The Duke and Duchess of Cornwall, a day after this event Prince Charles attended a star-studded engagement on Wednesday where he joined Benedict Cumberbatch and Myleene Klass at the Royal Albert Hall.
Arriving in an electric Jaguar, Charles was later seen chatting to singer Myleene and her two daughters Hero, seven, and Ava, 11.
While Camilla is due to head to Glasgow on Thursday to visit the The Beatson West of Scotland Cancer Centre, to hear about the work of Target Ovarian Cancer and meet some of the women the charity has helped.