The Royal couple were greeted by thousands of well-wishers at the Mansion House before heading inside for a civic ceremony attended by civic dignataries and scores of volunteers from local groups and organisations.
Here are some photos of the key moments of His and Her Majesty’s visit to Doncaster.
5. King Charles in Doncaster
King Charles delivers his speech at the Mansion House. Photo: National World
6. King Charles in Doncaster
The Royal couple met represenatives of many local volunteer groups and organisations. Photo: National World
7. King Charles in Doncaster
The Royal couple signed the visitor's book. Photo: National World
8. King Charles in Doncaster
The Royal couple sign the visitor's book at the Mansion House. Photo: National World