In a video shared to TikTok, the couple were filmed walking hand-in-hand through their Bahamas hotel on the last day of their official tour.
"This couple staying in the Bahamas had 35 security guards!" the video clip, shared by user Jimmy Rex, was entitled.
During the clip, Prince William, 39, and Kate Middleton, 40, are seen looking relaxed and holding hands while walking through the foyer of their hotel and out into the Barbados evening.
Filmed on the final day of the royal tour, the Duchess of Cambridge appeared to be channelling her mother-in-law, the late Princess Diana, by wearing an Eighties-inspired peplum dress with puffed sleeves by Alessandra Rich.
The duchess waved goodbye to The Bahamas in the yellow floral midi dress, and accessorised with a Ferragamo ‘Vara’ leather clutch bag, Gianvito Rossi ‘Gianvito 105’ white leather pumps and gold and quartz drop earrings by Patrick Mavros.
Alessandra Rich is also one of the duchess' go-to labels, with the royal often turning to the London-based designer for her royal engagements.
Since sharing the new footage of the couple it has captured the attention of royal fans, clocking up more than 54K likes and receiving thousands of comments from people loving the candid public display of affection between them.
"Lovely to see them holding hands," one user wrote.
"They are holding hands, yay," another noted.
"So interesting to see them holding hands, I have never seen them doing it in the media," another commented.
While another fan said "they look so relaxed".
"Aww they look so relaxed," a fourth commented.
Watch: Prince William makes joke about 'broody' wife Catherine
The couple usually keep public displays of affection to a minimum, unlike the duke’s younger brother, Prince Harry, who is often seen holding hands with his wife, Meghan Markle.
Myka Meier, the founder of Beaumont Etiquette and a royal etiquette expert, revealed to People that "there is no actual etiquette or royal protocol that says the couple must refrain from PDA."
However, it is thought that many of the royals follow the Queen's lead on PDA.
As body language expert Robin Kermode told the Daily Mail, the Queen was rarely seen holding hands with her late husband, Prince Philip in public, and it is believed that many other members of the Royal Family typically maintain that precedent.
Of course, when royals are on official engagements, they are also working, which is another reason holding hands and other displays of affection are kept to a minimum.
The Duke and Duchess of Cambridge were previously, surprisingly affectionate with one another during their three-day tour of Ireland in March 2020.
On a walk along the Howth Head cliff, the duchess pulled her arm through her husband’s as he walked with his hand in his coat pocket.
And in Galway, she lent in to whisper into the duke’s ear as the pair watched circus acts preparing for the celebrations for the European City of Culture.