Former flight dispatcher Michael, 74, looked smart in a morning suit while Carole, 69, sported a pale blue floral dress and matching hat as they arrived at the Berkshire racecourse.
The couple were spotted mingling with guests in the parade ring, including William's cousins, Zara and her husband Mike Tindall, Princess Beatrice and her husband Edoardo Mapelli Mozzi, and Princess Eugenie and her husband Jack Brooksbank.
Queen Camilla headed up the carriage procession on the second day of the race meet as her husband, King Charles, held audiences at Buckingham Palace in London. Watch their arrival below...
WATCH: Prince William joins Queen Camilla and his cousins at Royal Ascot
The Middletons have been by Kate's side throughout her difficult year as she underwent major abdominal surgery in January and began a course of preventative chemotherapy following a cancer diagnosis in late February.
Carole was then pictured driving Kate through Windsor in an unauthorised paparazzi image in March.
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Ahead of her first major public appearance since her diagnosis, the Princess shared that she is making "good progress" with her treatment in a personal message. Her treatment plan is expected to be ongoing for the next few months and she is "not out of the woods yet".
Kate delighted royal fans as she joined her husband, the Prince of Wales, and their three children at Trooping the Colour last Saturday, taking part in the carriage procession and watching the flypast from the balcony.
Carole's Self-Portrait dress featured semi-sheer chiffon sleeves with a pussy-bow detailing at the neckline - not too dissimilar to an Elie Saab look first worn by daughter Kate in 2019.
She teamed it with a statement floral headband and navy heels and a matching box bag.
Prince William joined his in-laws, Carole and Michael, at the racecourse along with his royal cousins and several of the Prince and Princess of Wales's closest friends.
The future king, who will celebrate his 42nd birthday on 21 June, shared a carriage with stepmother, Queen Camilla, and the Earl and Countess of Halifax.
There was a lot of laughter and smiles as Prince William caught up with his cousins, Mike and Zara Tindall, and Princess Beatrice and her husband, Edoardo Mapelli Mozzi.
Thomas van Straubenzee is one of William's closest and long-time pals, having attended Ludgrove prep school with the Prince.
He served as an usher alongside James Meade at the royal wedding in 2011, and shared the toast at the wedding reception.
In 2020, Thomas married his second wife, Lucy, a teacher at George and Charlotte's former school, Thomas's Battersea. The pair welcomed a son in December 2022.
Sarah, Duchess of York enjoyed a day out at the races with her daughters, Beatrice and Eugenie.
The author opted for a cream button-up jacket with a navy skirt and a matching hat, while Eugenie donned a figure-hugging knitted dress by Gabriela Hearst.
Wednesday marked a very special day for the Duke and Duchess of Edinburgh as they celebrated their 25th wedding anniversary.
Prince Edward and Sophie, who wed in 1999, thanked well-wishers for their "many kind and lovely messages" as they shared two new portraits taken at their Surrey mansion, Bagshot Park.
Sophie wore a bridal-style look in the form of a floral applique number.
Eugenie appeared to celebrate a win as she threw her arms up in the air after watching the race intently.
LISTEN: Inside Trooping the Colour
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