Meghan dressed her baby bump in a strapless black dress by Roland Mouret, while Kate opted for a sleeveless red Preen gown, which she first wore in 2016 on her royal tour of Canada.
Singer Tom Walker, who performed at the event managed to capture a couple of candid snaps, which he shared to his social media accounts.
“I had the absolute honour of performing for and meeting The Duke and Duchess of Cambridge & The Duke and Duchess of Sussex for the annual @kensingtonroyal #RoyalFoundation dinner last night,” he captioned the images.
British presenter Anita Rani - who was pictured alongside Kate, Wills and Tom also shared a memory from the event.
"Go Meghan and Harry! We chatted weddings and feminism. It was a huge honour to host the event last night," she shared via social media.