The monarch happily gave a high five to a little boy at the Mapfre Sailing Cup Awards, part of the King's Sailing Cup, on Saturday.
When the youngster, who was perched on his father's shoulders, held up his hand to the king on stage, Felipe enthusiastically returned the gesture without missing a beat.
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The 46-year-old then returned to formally shaking the hands of those receiving cups and trophies at the Ses Voltes Cultural Center.
Spain's sovereign is dedicated in his support of the annual King's Cup sailing competition.
While in Majorca this week Felipe took part in the sporting event for the first time since his coronation in June.
Despite now having an increasingly busy schedule to contend with, the king took to the seas on the third day of the regatta following a morning meeting.
Earlier in the day King Felipe had hosted an audience with numerous dignitaries including the President of the Balariac Islands and the Mayor of Palma de Majorca
Felipe, who was a member of the Spanish Olympic sailing team at the Barcelona Games in 1992, beamed as he took the helm a boat named Aifos, showing off his sailing skills.