The Princess of Wales has been spotted out and about for the first time since announcing she had completed chemotherapy.

Kate and her husband, Prince William, were seen on Sunday (UK time) attending church with the King and Queen near their Balmoral estate in Scotland.

It is the 42-year-old’s first public appearance since revealing on September 9 that she had completed her cancer treatment.

In new photos, Kate, 42, is seen in the passenger seat of a car driven by  William as they head to Crathie Kirk Church in Balmoral, Aberdeenshire.

The princess, wearing a brown checked coat and green brimmed hat with feathers, flashes a smile as the vehicle passes.

Earlier this month Kate shared a personal video on her cancer journey and said she would be resuming some public duties.

The mum of three explained that the path to full recovery would be long and she would take it day-by-day.

She said she would do some limited engagements in coming months. They are expected to include the Remembrance Sunday ceremony in London in November and her annual Christmas concert at Westminster Abbey.

While she stepped away from most public duties during her treatment, Kate made two appearances earlier this year.

The first was for the Trooping the Colour, the official parade to mark the King’s birthday, in June. Most recently, she was also at the men’s final at Wimbledon in July, where she received a standing ovation.

-with AAP