The duo met when Prince Philip, who was patron of the British-Australia Society, presented Minogue with the Britain-Australia Society Award for 2016.
In the first photo, both are pictured standing next to each other during a private audience in the White Drawing Room at Windsor Castle.
In the second photo, they are seen laughing as Prince Philip hands Minogue her certificate.
The caption read: “RIP HRH Prince Philip. What an honour it was to meet at Windsor Castle.”
For the occasion, the Duke wore a black single-breasted suit with a blue shirt and tie.
Minogue wore a floaty floral gown complete with a ruffled neckline and a central tie at the waist.
The singer’s post comes ahead of the royal ceremonial funeral planned for Prince Philip, which will be attended by 30 close relatives and friends.
Among those in attendance are the Duke of Sussex, who has flown in from Los Angeles for the occasion.
He will be joined by all of the Queen and Prince Philip’s four children, the Prince of Wales, the Duke of York, the Princess Royal and the Earl of Wessex.
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