The photo was shared as part of a montage on Twitter with an animated billboard wishing everyone a Happy Father’s Day.
Four photos are then unveiled, including an unpublished image of William and his children.
Dressed in a military uniform, William smiles for the camera as he is surrounded by his three children – Prince George, Princess Charlotte and Princess Louis.
George is seen hugging his father’s leg as Charlotte walks towards the camera as her father holds Prince Louis.
A royal fan on Twitter said the photo was “too adorable” while another said: “Another sweet new photo of William with his children, especially George hugging his father. “
Others were posted in the sweet clip, including one of Kate on her wedding day, who was taken down the aisle by her father Michael Middleton and a photo of Charles, William and Harry at Balmoral.
Another image shows the Queen and Prince Philip with their great-grandchildren on the sofa.
The full lineup of royal children includes the children of the Duke and Duchess of Cambridge, Prince George and Princess Charlotte, on either side of the Queen holding their brother Louis.
Peter Phillip’s daughters, Savannah and Isla, are close to their great-grandfather and across the couch are Zara and Mike Tindall’s children, Lena, held by his cousin Isla, and daughter Mia.
Another photo shows Prince Charles in a tartan kilt with his sons Harry and William when they were children.
The Queen also shared a photo today to mark Father’s Day – a photo of three generations of royal dads.
The black and white photograph showed the monarch with her own father, King George VI, alongside Prince Philip and a young Prince Charles.
The black and white image was taken at Balmoral in 1951, two years before his coronation after the king’s death.
In a sweet message, the tweet read: “To all dads around the world, we wish you a very special Father’s Day. “
Prince Charles also shared a photo of the Duke of Edinburgh, alongside a photo of his sons.
Today marks the Royal Family’s first Father’s Day without Prince Philip after his death earlier this year.
” To mark #Fathers Day we share this photo of the queen with her father, king george vi, and prince philip watching a young prince charles sitting on a statue at balmoral in 1951. ”