The TV presenter was discussing the Queen's Platinum Jubilee with the show's royal editor Russell Myers on Monday and got onto Andrew's positive test that saw him withdraw from the weekend's events.
Myers was talking about the slimmed down size of the Royal Family and said: "And when you look at that, the Queen wanted to make a statement. Taking the issue of Harry and Meghan away, taking the issue of Prince Andrew – who got COVID, somewhat conveniently…’
While laughing, Kelly interjected and said: "Did he though?"
She then added: "It was all about the Queen, you know with the convenient COVID for Prince Andrew, and also Harry and Meghan did keep a low profile, they came to things they needed to come to. That’s what they was asked to do and they did it."
Kelly also discussed how the Queen only attended certain events because of her health: "It was just a time to reunite, people coming together, but Charles obviously had to step up didn’t he? Because she obviously couldn’t do everything, she is 96, let’s not forget that."
Prince Andrew tested positive for COVID-19 last Thursday and was subsequently ruled out of appearing at any of the public events for his mother's Platinum Jubilee celebrations.
At the time, a Buckingham Palace spokesperson said: "After undertaking a routine test The Duke has tested positive for COVID and with regret will no longer be attending tomorrow’s service."
Andrew has been accused of child sex abuse and of sex trafficking with convicted paedophile Jeffrey Epstein. Andrew has categorically denied all accusations.
He later resigned from his public roles and returned his honorary military affiliations and charity patronages to the Queen.
Andrew was sued in the US by Virginia Giuffre over an alleged sexual assault. He denied all accusations and later settled the suit out of court.
Watch: Prince Andrew to miss Queen's Jubilee service after testing positive for COVID-19