The 31-year-old fifth in line to the country's throne, who tested negative for the deadly virus, was made to raise awareness about HIV and AIDS.
"It is amazing how quick it is. So whether you're a man, woman, gay, straight, black or white - even ginger [haired] - why wouldn't you come and have a test," he said in his message.
The prince had to wait only a few moments to get his results after the simple pin-prick test and his blood sample was mixed with chemicals and poured into a test tray.
However, if two spots had appeared he would have needed further tests to confirm if he was HIV-positive.
The procedure was carried out by Robert Palmer, a lead health adviser and psycho-sexual counsellor.
"It means this is a test for everybody - it doesn't matter who you are, it's a good idea to have an HIV test," Palmer was quoted as saying by the BBC.
Latest figures from Public Health England in 2014 estimated 18,100 people in the UK alone were unaware of their infection and at risk of unknowingly passing on the virus.
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