In pictures, obtained by MailOnline, the rugby star - who was the eighth contestant to leave the show on Saturday - was seen enjoying a relaxing day out at Sea World on Australia's Gold Coast on Sunday.
WATCH: Mike Tindall and Zara reunite following I'm a Celebrity exit
In one adorable picture, Mike was seen planting a kiss on his youngest daughter Lena, who was no doubt chuffed to be back in the arms of her dad.
Mike shares three young children with wife Zara
When asked about his reunion with the royal, Mike said: "That's probably the hardest thing about the whole show, especially when you've got the three little ones as well, is being away for that period of time."
He went on to reveal that she secretly sent him a letter from home. "Originally, she wasn't going to write me the note because I carry them quite close to the surface anyway and I try and put, in that situation, emotions down below," he added.
The royal was on hand to greet her husband
"I was trying to get my brother to write the letter, so he would actually take the mickey out of me a bit more and it would be a grounding one, rather than bringing it all back to the surface but she was sneaky on me. She was a sneaky little one she was there, so it got me a little bit."
The sports star continued: "But we had a great camp that got everyone through whatever the wobble was and I think that was my biggest worry going in, coming from that team background. If the dynamic wasn't right, it's going to make for a bad time but I had 11 great friends in there and that made for a wicked camp."
Like this story? Sign up to our HELLO! Mail newsletter to receive all the latest royal and celebrity news straight in your inbox.