Prince William leaves Robert Irwin mortified on The Graham Norton Show after he makes cheeky joke about underwear advert

Over the weekend, Prince William made history by doing something no royal has done before - appearing on The Graham Norton Show.

On Friday (23 October), the Prince of Wales and future King of England, 44, left the UK shocked when it was revealed that he was one of the guests sitting on the iconic red sofa.

During the pre-recorded show, the host was sitting with the other celebrity guests, Cate Blanchett, Robert Irwin and Hannah Waddingham, when the royal strolled in, earning gasps and cheers from the audience.

Throughout the episode, he shut down any preconceptions people might have about the royals being boring, as he had the other guests in fits of laughter, with viewers dubbing his comedic timing as ‘genuinely perfect’.

One standout moment was when Robert Irwin, 22, the son of the late wildlife conservationist Steve Irwin, was forced to talk about a risqué underwear photoshoot he did last April for the brand Bonds.

The eyebrow-raising shoot saw Irwin strip down to his boxers and pose with several Australian animals, such as a snake and a spider.

However, it’s safe to say when he did the shoot, he didn’t expect to be looking at the photos with royalty beside him.

As the photos flashed on the screen, Irwin blushed: “I can't believe I'm looking at these with Prince William.

“It was an underwear commercial, obviously, but I wanted to kind of create a conversation element to it.”

He elaborated: “I believe in bringing the message to an audience that might not ordinarily be in that world.”

The audience couldn’t stop laughing as he continued: “What matters to me is the snake in that image; it’s the face that wildlife was showcased.”

The young wildlife expert posed with a snake for part of the shoot last year (Bonds)

The conversation got sidetracked onto spiders, before the Prince chimed in with: “I’m still thinking about your Python,” which caused Irwin to fall sideways onto the sofa and earned a huge cheer from the crowd.

Fans rushed to react to the moment on social media, with one writing: “You’ve got to appreciate Prince William’s comedic timing, because it’s genuinely perfect. The delivery, the timing, everything. I mean, the man is funny, OKAY?”

A second added: “It really is that he doesn’t take himself too seriously in public. He’s just the right amount of cheeky and self-deprecating. Prince William took the best parts of his mum and the Queen.”

While third admitted: “I had no idea he was so chill and funny. He's got his mom's way with people.”

A fourth chimed in with: “HRH Prince William was absolutely fantastic on the Graham Norton show...he was a natural... and very funny at times.”

And a fifth added: “Prince William is doing amazing things for the image of the Royal Family. I love it!”

Fans have praised William following the appearance (BBC/Graham Norton)

During the show, William also told another funny anecdote, admitting that, despite being a famous face around the world, he ‘quite regularly’ meets people who don’t recognise him.

He recalled: “I went to a place in Somerset and was looking around some of the local communities there, and one lovely gentleman looked up at me from his seat and said, ‘When are you going to sing?’.

“I’ve had many requests over many years from all ranging parts of society, and I said, ‘I’m sorry, what do you mean?’.

“He goes, ‘When are you going to sing your performance?’, and the lady behind tapped his arm and went, ‘No, no, he’s not that prince’.

He laughed: “It turned out he wanted me to sing Purple Rain, which I don’t know the lyrics for.”