Donald Trump said his state visit to the UK was “one of the highest honours of my life” as he heaped praise on the Royal Family at a lavish dinner at Windsor Castle on Wednesday evening.

Trump hailed King Charles and referenced the unprecedented honour of being handed a second state visit – the first US president ever to be given one – and joked he hoped it would be “last time” it happens.

Trump also singled out the Prince and Princess of Wales, who have played a key part in the UK’s charm offensive during the two-day visit, saying Kate was “so radiant and so healthy”.

“His Majesty has also raised a remarkable son in His Royal Highness, the Prince of Wales,” Trump said. “We’ve gotten to know you and I think you’re going to have an unbelievable success in future.

“And to see Her Royal Highness, Princess Catherine, so radiant and so healthy, it’s so beautiful.”

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Earlier, Charles greeted Trump on the grounds of the castle and laid on all the pomp and pageantry available throughout the day – including a carriage procession, guard of honour, military parade and Red Arrows flypast.

Trump’s welcome was in contrast to protests in central London, where around 5,000 demonstrators marched along Regent Street. Speaking at the event, Green Party leader Zack Polanski said the pomp and ceremony of Trump’s second state visit was “absolutely outrageous”.

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