Images captured in the capital Berlin showed the Duke and Duchess making their way to a platform at the Central Station on the morning, before boarding a train bound for Hamburg on Friday, Efe news reported.
The couple were coming to the end of a five-day visit that included the young Prince George and Princess Charlotte and took them to neighbouring countries Poland and Germany.
Their first stop in Hamburg was the Maritime Museum, where they were greeted by hordes of onlookers clutching Union Jacks and German flags.
The royals were visiting the museum as part of celebrations marking a shared UK-German year of science, according to a Buckingham Palace statement.
The Duke and Duchess then visited the Elbphilharmonie concert hall, where a band of window cleaners had been spotted scaling its facades earlier in the day.
One of the world’s largest concert halls, the venue opened in January this year, and hosted the royals for a special Hamburg Symphony Orchestra performance.
From there, the pair took a boat along the Elbe River to Hamburg’s Airbus base — the final stop of the royal tour — where the couple were set to meet German and British apprentices and see the final assembly line of an A320 aircraft.
They were then set to depart for Britain, drawing the tour to a close