Prince Harry has told members of the armed forces at the glitzy 'Millies' award ceremony in London "you are inspirational role models to all young Britons".
Captain Harry Wales, Flight Lieutenant William Wales and his wife the Duchess of Cambridge were guests of honour at the celebrity-packed black tie event at the Imperial War Museum .
Kate arrived wearing a black full-length strapless Alexander McQueen dress and jewellery given to her as a wedding present.
The three royals chatted with servicemen and women at the pre-dinner reception alongside Prime Minister David Cameron and his wife Samantha.
"You, the Millies nominees and winners, may feel ordinary - most extraordinary people I've met do. But you're not," Apache helicopter pilot Prince Harry said.
The Sun newspaper-sponsored event, called A Night Of Heroes, attracted a host of celebrities, including footballers David Beckham and Frank Lampard, Ross Kemp, Jerry Hall, comedian Jimmy Carr, chef Gordon Ramsay and Top Gear's Jeremy Clarkson.
Clarkson told Sky News: "The whole point of Help For Heroes was that we wanted to change the way people saw the war, because it was very unpopular when it started.
"This, we felt, was very unfair on the poor soldiers and marines having to fight out there.
"So we felt it was a good idea to try and change people's perceptions, saying 'You don't have to support the war but it would be good if you support those who have no choice in whether they go or not'."
But the real celebrities of the night were those members of the armed forces nominated for awards, like Flight Lieutenant Alex "Frenchie" Duncan.
Previously awarded the Distinguished Flying Cross, Frenchie rescued two casualties in the face of treacherous flying conditions and hostile fire in Afghanistan in 2010.
Part of the Joint Helicopter Force, he told Sky News: "The award is not just for me, it is what it represents.
"I'm one pilot. There's 60 on my flight. We have two squadrons doing what we do and a special forces squadron as well. Everyone of use deserves an award.
"It is brilliant for the lads who go out and do the job to see that they are being recognised by the Millies.
"Otherwise, if there was no recognition, some might say 'What is the point?'"
Prince Harry also paid tribute to families of serving personnel who worry and hope their loved ones will return from the front line.
"We're busy. We can focus entirely on what we are doing, on the job at hand. �?�Those we leave behind often have no such luxury," he said.
"So, to our amazing, brave families, I know I join every single serviceman and woman in saying from the bottom of our hearts: 'Thank you'."
The Duke and Duchess of Cambridge and Prince Harry join forces again on Wednesday when they pay a visit to homeless charity Centrepoint .
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