The show features a star-studded line-up including Britain's Got Talent winner Lost Voice Guy Lee Ridley, 37, George Ezra and Clean Bandit.
There will also be performances from the casts of hit musicals Hamilton and Tina.
The pre-recorded show took place at the London Palladium and before the curtain went up, the royal couple were seen meeting the performers including Take That's Gary Barlow, who greeted the prince with a handshake and a huge grin.
The show is hosted by comedian Greg Davies, best known for playing Mr. Gilbert in The Inbetweeners, who opened the production by comparing the event to the "Muppet Show".
He did a short stand-up set which included a song about "Harry's nan" and a dance with a troupe of grannys.
Speaking ahead of his hosting duties, Davies said in a statement: “I am delighted to host the Royal Variety.
“It is a role that I am wildly unsuited to and I will no doubt offend a great many people, but my mum has a voracious appetite for meeting members of the Royal Family and this seems a reasonable price to pay for the gift of life.”
Since its inception, the Royal Variety Performance has been watched by over 152 million TV viewers worldwide, making it the most successful and longest-running entertainment show in the world.
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