After the concert, Swift and Travis Kelce, her American NFL footballer boyfriend, invited the trio backstage.

A selfie taken by the Queen of Pop alongside the grinning princes and princess was seen by tens of millions of people by Saturday afternoon.

Any embarrassment Prince William’s children may have felt by their father’s dance moves would have passed after Swift, 34, described the heir to the throne as her “m8” in the caption.

Kensington Palace replied with a similar picture on X, formerly Twitter, adding: “Thank you @‌TaylorSwift for a great evening!”

The Princess of Wales stayed at home with Prince Louis, six.

The royal family had earlier even welcomed Swift to London by posting a video of a special Changing of the Guard performance of her song Shake It Off. It featured the caption: “Can’t stop, won’t stop groovin’” .

The prince has known Swift for at least 10 years. In 2013, she encouraged him to take to the stage with her and Jon Bon Jovi to perform the hit Livin’ On A Prayer. The unlikely musical collaboration took place at the Centrepoint Gala Dinner at Kensington Palace in November that year. Footage of that clip also went viral.

Bon Jovi, the frontman for the American band of the same name, said: “It was all her. She literally grabbed him by the arm and ran up on stage, and they both knew the words and sang along.”

Two years ago, the prince revealed that he had agreed to join them on stage because he became like a “puppy” when she told him to follow her.

Swift’s Wembley gig, the first in the capital for the tour – was attended by numerous celebrities including Bridgerton star Nicola Coughlan, Queer Eye’s Jonathan Van Ness and model Cara Delevingne.

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Sir Keir Starmer took a break from the Labour election campaign and attended the concert with his wife Victoria. The pair posted a photo of them on social media with the caption “‘Swift’ campaign pitstop”.

The hugely anticipated gig marks the first of three London dates on Swift’s The Eras Tour. She opened the show by saying: “What better way to spend a Friday night than in the most exhilarating city in the world?”

However, the singer had to interrupt her set four times to try to get security to intervene after a number of fans fainted.