The trio were among several stars at the women's singles final on Saturday.
This is the Duchess of Cambridge's first public event since being exposed to COVID-19.
Kate Middleton attends the annual Wimbledon tennis tournament, and also takes a tour of the museum and helps out in the kitchen.
The Duchess of Cambridge is a royal patron of the organization that hosts the annual tennis competition.
Osaka, 23, will compete under Japan's flag for the 2021 games.
The tennis pro says he needs for more recovery time for his body.
Shop the duchess' designer dress and five other tournament-ready styles we love.
The royal appeared to have a blast as she and Prince William watched Novak Djokovic go head-to-head with Roger Federer.
We could feel the love when the Duchess of Sussex met Beyonce at Sunday's premiere of 'The Lion King' in London.
The Duchess of Sussex, along with Kate and Pippa Middleton, cheered on the tennis star on Saturday.
The two royals were also joined by Kate's sister, Pippa Middleton.
Plenty of A-listers were spotted in the crowd to watch Roger Federer take on Rafael Nadal on Friday.
A source tells ET that Meghan is expected to take a break from maternity leave to attend Wimbledon.
The 37-year-old Duchess of Cambridge looks super chic at the tennis match.
