Crowds always lined the streets as he visited, at the side of the Queen.
Some, however, got to know him personally, through their work for the Royal Family.
Two gentlemen who worked on the Royal Yacht Britannia shared their memories of service with ITV News Central.
Tom Suddes, a former royal photographer, trained at RAF Cosford in Shropshire, and worked on board the ship documenting royal life.
He was a great character, he had a great sense of humour, but if he asked you a question you had to have the answer.
David Rushforth, who lives in Hartlebury, Worcestershire, was stationed on the Royal Yacht Britannia in the 1970s as a CPO Engineer.
He remembers the politeness of the Royals.
It was just the privilege of serving the Royals and the thank yous we got at the end of the trip when Her Majesty the Queen and His Royal Highness Prince Philip always paid us a visit to say thank you for everything.
ITV News Central spoke to the Archbishop of Canterbury Justin Welby in 2017, just after the Duke retired.
He paid tribute to the huge impact he had on the country.
What he achieved is remarkable, without ever making a fuss about himself. Confident, determined, clear leadership. Everything from youth through to wildlife, the environment, agriculture - extraordinary.