Members of the public braved a downpour to gather near the church where the UK's newest royal was christened.
Some may have caught a glimpse of Charlotte when she was held by her mother and then pushed along a pathway in a pram after the service.
Other guests included Queen Elizabeth, her husband Prince Philip and the Middleton family -- parents and brother of Kate.
Many, including William's father, Prince Charles, followed the parents as they pushed their new daughter along a pathway in a pram.
Prince George was seen peering into his sister's pram. There was a fun moment when the young prince had to be chased by his father as he ran away into the church gardens.
The Duke and Duchess of Cambridge with Prince George and Princess Charlotte. Source: AAP
The ceremony was held at St Mary Magdalene Church on the Sandringham estate in eastern England, where William and Kate, the Duke and Duchess of Cambridge, have a country home.
The princess's full name, Charlotte Elizabeth Diana, is a nod to her late grandmother Princess Diana and her great-grandmother Queen Elizabeth.
William's office said the couple had chosen five friends and family members to be Charlotte's godparents.
The service was conducted by Archbishop Justin Welby, the spiritual head of the Anglican Church, who also oversaw the christening of her elder brother, Prince George.
The princess wore the robe worn by George at his christening.
The lace and satin gown made by Queen Elizabeth's dressmaker is a replica of one first used by the royal family in 1841.
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