However, recent reports have suggested that they will be moving to Windsor soon and could live in Adelaide Cottage on the Windsor estate.
Previously, her brother-in-law Harry also made the move away from Kensington Palace to Frogmore Cottage on the Windsor estate.
And according to royal expert and author Ingrid Seward, the move could give Kate and her family much more freedom, especially after she was told the duchess can’t really do things like walk in the park.
She told True Royalty TV’s The Royal Beat about the move: “I think what William and Catherine will have for their children is the freedom they didn’t have at Kensington Palace.
“I remember Harry saying to a friend of mine that Catherine was almost a prisoner at Kensington Palace, and I thought don’t be ridiculous, it’s the most gorgeous place to live in London!
“Then I thought, in a way they are prisoners, they have a beautiful house and garden but beyond that garden are hundreds of people every day and massive security.
“Catherine can’t walk in the park like Diana used to, as times have changed.
“The only place to go is a field where the helicopters land, so you are very imprisoned. Everyone knows what you’re doing and where you are.” William, Kate and their three children are moving to Windsor this summer
It was reported earlier this month that despite a move to Windsor the royal couple will keep their Kensington Palace property as their main London base, while also retaining Anmer Hall, which they are said to still use regularly.
One friend reportedly told The Times that they plan to move to Norfolk on a more permanent basis after their children are through “the school years”.
“They absolutely love it up there, it’s their happy place,” the friend is reported to have said.
The planned move to Windsor will see the couple nearer to the Duchess’s parents, who live a 45-minute car journey away in the village of Bucklebury.
The Cambridges could, in time, move into Windsor Castle, where the Queen has lived since the pandemic and the death of her husband Prince Philip.
It is reported that Prince Charles does not intend to spend as much time there when he becomes king, planning to spend his reign at Buckingham Palace.