The 29-year-old looked delighted to be reunited with her mum as the pair attended a gala dinner for the World Childhood Foundation, which the queen founded.
Elegant in a lavender-hued gown with crystal embellishments – and with her glossy ash blonde hair tumbling over her shoulders, Madeleine was a picture of health and contentment.
The Swedish royal is clearly in a very good place right now – she has no need for a 'I love NY' t-shirt to show how much she enjoys life in the Big Apple.
Since moving to the US over a year ago for a fresh start after splitting with her fiancé Jonas Bergstrom, Madeleine has blossomed.
As well throwing herself into work for her mother's charity, she has found love again with handsome American financier Chris O'Neil, and has set up home with him in a luxury Manhattan apartment.
The pretty royal will soon be taking a trip back to her homeland, however, for the christening of her little niece Princess Estelle.
The highly-anticipated event will be celebrated on May 22.