The royal couple headed straight to the iconic Sydney Opera House after landing, where they were given a tour of the world-famous Sydney Harbour before going inside.
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William and Kate in Sydney
For her first official visit to the country, the Duchess of Cambridge dressed in one of Australia's national colours, opting for a bright sunny yellow Roksanda Ilincic dress.
Prince William gave a speech during the reception, sharing his and Kate's delight at being there: "There cannot be a more impressive place than the iconic Sydney Opera House to begin our first visit together to Australia."
The Duke and Duchess of Cambridge looks bright and bubbly in their attireHe continued: "This visit to Australia has been one that Catherine and I have been looking forward to for a long time.
"Australia and Australians have always been for us a beacon of confidence, creativity in the arts and sporting ability."
Kate donned a stylish yellow and white dress
William, who first went on his own royal tour when he was George's age, mentioned his mum, the late Princess Diana.
"My mother's deep affection for Australia – which you were so kind to reciprocate – needs no reminder," said William, 31.
The doting father also joked about what his eight-month-old son Prince George's first word might be, saying that they "suspect George's first word might be 'bilby' – only because 'koala' is harder to say."
Kate speaks to well-wishers outside Sydney Opera House
The Prince said: "We really look forward to our time here together as a family."
Following the reception inside the Opera House, the couple re-emerged to cheers and flags from well-wishers. They then took a boat ride across the beautiful sunny Sydney Harbour to Admiralty House.