The baptism was held in a private ceremony at the Church of St Mary Magdalene in Sandringham, Norfolk, reports BBC.
Kensington Palace's official Instagram shared images of the special occasion.
Two-month old Princess Charlotte, who was born on May 2, was held by her mother the Duchess of Cambridge as the Royal family made their first public appearance as a family of four. Big brother Prince George was dressed up for the occasion in red shorts.
As the royal family walked up to the church, they were greeted by people who stood outside to get a glimpse of the royal daughter.
The baptism was attended by their families including the Queen, Prince Charles, Duchess of Cornwall and Kate's sister Pippa Middleton.
On the morning of the christening, William and Kate revealed the five godparents for Princess Charlotte - Kate's close friend Sophie Carter, Kate's cousin Adam Middleton, Will's friends James Meade and Thomas van Straubenzee, and Princess Diana's niece, Laura Fellowes, reports USA Today.
Prince George was christened in 2013 at St. James's Palace with seven godparents.
