Prince William and Princess Kate sent royal fans wild as they surprised people by joining a Nerf gun party in Norfolk.

Prince George, 11, Princess Charlotte, nine, and six-year-old Prince Louis joined their parents at the Gone Wild Festival at Holkham Hall in Norfolk for a Nerf war with toy guns and smoke bombs.

The Princess of Wales joined in the action and “grabbed a Nerf gun, ran around, and played stuck in the mud with her kids”, according to Norfolk Nerf Parties boss Georgina Barron.

During the “wholesome family day”, Prince Louis reportedly ran around yelling: “Nerf or nothing, let’s do this!”

The Waleses family are said to have arrived at The Gone Wild Festival with their friends last weekend and to have asked for a “high-intensity, non-stop game of Nerf fun”.

The festival caters to 640 children each day, but last weekend had a “very special VIP family” join in the fun, Ms Barron said.

Ms Barron told the Daily Mail: “I was called to the production team’s office and told that a very special VIP family had requested to play Nerf wars.

“The Princess of Wales grabbed a Nerf gun, ran around, and played stuck in the mud with her children.

“Prince Louis was shouting with glee, ‘Come on, Nerf or nothing. Let’s do this!’ I’m still in awe of what a memorable experience we had.”

Ms Barron said that hosting the family was the “biggest honour” and “unforgettable”.

Ms Barron added that the family were not photographed at the event as they wanted to enjoy a normal day like “any other normal family”.

Express.co.uk contacted Kensington Palace for comment.

News of the family outing comes shortly after Kate and William sent heartfelt message to the British public where they congratulated on Olympians part of Team GB who had returned from Paris to compete in the Olympic Games 2024.

Style expert Danielle Rogers-Clark of Give Good Dress exclusively spoke to Express.co.uk about the meaning behind the “timeless” Ralph Lauren ‘Tori’ striped long-sleeve t-shirt worn by Princess Kate in the video.

She said: “When seeing Kate in a familiar approachable style, it sends a message of reassurance to the public that the Princess is doing well and recovering from her cancer battle.”