For the second time this year, Donald and Melania Trump have attended a reception at Buckingham Palace with members of the royal family.

The US President is in London for a NATO Summit this week, and was among a group of fellow world leaders invited to the palace for a reception on Tuesday afternoon.

The NATO leaders and their spouses were hosted by a handful of senior royals, including the Queen, Prince Charles, Camilla, Duchess of Cornwall, Princess Anne and Prince Edward.

The Duchess of Cambridge was also present, flying solo as her husband Prince William is currently in Kuwait on a royal visit to the Middle East.

Kate wore a long-sleeved green dress for the occasion.

Before the reception, the Trumps also enjoyed tea at Clarence House with Charles and Camilla.

The Telegraph reports the US President and First Lady arrived 40 minutes late for the appointment due to traffic, and spent 15 minutes at the royal couple's residence.

They were then joined at the palace reception by leaders including Angela Merkel, Emmanuel Macron, and Justin Trudeau, along with UK Prime Minister Boris Johnson.

There were some notable absentees on the royal side of things, however.

Though he played a significant role during Trump's State Visit to the UK earlier this year, Prince Andrew was conspicuously absent.

The Duke of York announced he would be stepping back from public royal duties in the wake of his BBC interview about his friendship with Jeffrey Epstein late last month.

Tuesday's reception came 24 hours after a documentary further exploring the prince's association with the convicted sex offender -- including allegations Epstein forced a 17-year-old girl to have sex with Andrew -- aired in the UK.

The Duke and Duchess of Sussex also missed the NATO reception, as they are currently in the midst of a six-week break from royal duties.

Although Harry met the US President during his State Visit, Meghan was on maternity leave at the time so did not attend any of the royal events held in Trump's honour.

Trump was only the third US president to receive an invitation for a State Visit from Her Majesty, after George W Bush and Barack Obama.

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