The incident occurred on Thursday while Kate Middleton and her husband Prince William were greeting members of the crowd during a visit to north Belfast, with a video shared by the DailyMail showing the woman confronting the royal.
“Nice to meet you but it would be better if it was when you were in your own country,” the woman, who appeared to be filming the interaction on her phone, was heard telling Kate as she shook her hand.
The statement was met with a continued smile from Kate, who appeared to laugh in shock, before dropping the woman’s hand.
As Kate turned to greet other individuals in the crowd, the woman, who was still filming, added: “Ireland belongs to the Irish.”
The exchange took place on the city’s Antrim Road after William and Kate visited a suicide prevention charity during their day-long trip.