The Prince and Princess of Wales have congratulated Robert Irwin on his Dancing With the Stars win

Robert shared a reel featuring the moment he won on Instagram and captioned it: "Dreams do come true [heart emoji]."

The royal couple's account commented: "Congratulations Robert and Witney! [stars and mirrorball emoji] (sic)""

Ted Lasso star Hannah Waddingham also offered her congratulations.

She posted: "ROBERRRRRRRRRRRRRRRRRRRRRRRRRRRRRT!!!!! YESSSSSSSSSS! It couldn't have gone any other way you've been astonishing the whole run! And it couldn't happen to a nicer human.... congratulations my friend... to you and your magnificent partner! (sic)"

Fellow DWTS contestants Lauren Jauregui and Danielle Fishel celebrated their friend's victory.

The Fifth Harmony singer commented: "Congratulations Robert!!!"

And Danielle wrote: "Congratulations my beautiful friend! In awe of you in every way. Loved watching and learning from you all season. [heart emoji] (sic)"

Earlier this month, William made a surprise guest appearance on the show when he sent a message of support to Robert via video.

Ahead of his performance, Robert had been seen telling his sister Bindi Irwin - who won the 2015 version of the show - how he had made a huge sacrifice to continue with the series, because he was due to appear alongside the prince at the Earth Shot Prize in Rio de Janeiro, Brazil.

However, he couldn't make it because he was still training for the show.

Robert and Witney then had to take a break from their dance preparations to receive a "special call", and he was shocked when the future King of England appeared on the line.

He asked William: "How was Rio?"

The 43-year-old royal said it went "really well", and added: "We're missing you."

William then joked: "Whilst your twinkle toes are going off elsewhere, I need you down here."

He also told Witney to dress Robert in "as much glitter" as she could, and the pro dancer replied: "Listen, I'm trying."

The royal concluded his call by wishing the pair "best of luck" for the remainder of the series, and said they have a "seriously good chance of winning it".

A delighted Robert fell back onto a sofa following the call, admitting it meant "the absolute world".