Prince George and Princess Charlotte have waved enthusiastically to the crowds as they left Canada at the end of their Royal tour.

The Duke and Duchess of Cambridge and their children arrived at Victoria harbour to catch a seaplane to get their connecting flight back to London.

Crowds lined the streets to try to catch a glimpse of the family of four - and the children did not disappoint.

Prince George, wearing red shorts and a jumper, waved both hands enthusiastically at the spectators. Princess Charlotte, wearing a red jumper and floral dress, also waved while being carried by Kate.

The Cambridges posed together for a photo before boarding the float plane. Prince George could be seen pressing his nose against the window as the plane prepared to taxi away.

They had travelled to British Columbia and the Yukon for an eight-day visit.

As the largest Commonwealth realm where the Queen is head of state, Kensington Palace said this tour was about the Duke and Duchess building relations with a country that will continue to play a large part in their lives.

The couple did not speak on camera about how the tour had been, but in a statement Prince William wrote: "Catherine and I are incredibly grateful to the people of Canada for the warmth and hospitality they have extended to our family over the last week.

"We have loved our time in British Columbia and Yukon and will never forget the beautiful places we have seen and the many people who have been kind enough to come to welcome us in person.

"Canada is a country of optimism, generosity and unrivalled natural beauty. I hope we have helped all Canadians celebrate what makes this country great. We will see you again soon."

While Prince William and Kate carried out most of the official engagements alone, it was George, three, and Charlotte, 16 months old, who largely stole the show.

(Sky News)