The royal couple began the visit by touring sections destroyed by a Second World War bombing, before exploring its modern replacement.
In his walkabout in the Cathedral Ruins, Prince William followed in the footsteps of his great grandfather King George VI, who visited the Ruins two days after the bombing that devastated the city in November 1940.
In the new Cathedral, the couple heard about how Coventry emerged from those dark days to join other cities that had suffered, to spread a message of forgiveness and reconciliation.
They also learned about how the cathedral's work continues today in war zones around the globe and through organisations such as the Community of the Cross of Nails.
The couple then took part in the Coventry Litany of Reconciliation, a prayer aimed at healing the wounds of history and building a culture of peace.
While preparing to take the royals on the tour, Rev Cannon David Stone from Coventry Cathedral told Premier his aim was to make sure as many people could see the couple as possible.
"I think it's all been very carefully worked out so as many people as possible can see the Duke and Duchess as they're here," he said.
"[There are] very careful plans to make sure that, on one hand, security is as it needs to be but, on the other hand, openness and accessibility is as [good as] it can be."
The Cambridge's were greeted by members of the choir before having a cup of tea with staff and volunteers at the Rising Cafe, a social enterprise aimed at providing work and opportunity for those overcoming drug and alcohol addictions.
Following the visit, the royals learned about a new innovative training centre for nurses, midwives and paramedics at Coventry University.
Listen to Rev Cannon David Stone speaking with Premier's John Pantry and Rosie Wright here:
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