She was escorted onto the plane by bodyguards and her team ahead of the 50-minute flight.
The highlight of the visiting exhibition is Johannes Vermeer's 'The Music Lesson,' but the Duchess also toured the museum's permanent collection, which is where she encountered Vermeer's best-known work, as well as 'The Goldfinch' by Carel Fabritius.
Earlier today, Kate made a courtesy call to King Willem-Alexander at Villa Eikenhorst, the royal residence he shares with wife Queen Maxima and their three daughters, Princesses Amalia, Alexia and Ariane.
Later Kate travelled to the neighbouring city of Rotterdam to learn about Bouwkeet, the social Makerspace of Bospolder-Tussendijken.
This is a new community focused initiative in the centre of an economically deprived district which provides a creative design and technology workspace.
Local residents can use the facilities, and 'pay' by sharing their skills with others, providing education, skills and positive role models within the community.