After touching down in the capital Amman, the couple were taken off for a dinner with King Abdullah II and Queen Rania Al-Abdullah.
The dinner, which is the first engagement of their trip, took place at Beit al-Urdun, the private residence of the Jordanian royals in Amman.
Charles and Camilla will spend two nights in the country before leaving for Qatar and then Saudi Arabia and Oman.
The Duchess of Cornwall visited Saudi Arabia's first university for women, where women are paid to study without much prospect of a job.
The Prince of Wales and Duchess of Cornwall saw the human cost of the conflict in Syria on a visit to a refugee camp in Jordan.