The family-of-four flew on the same plane to Warsaw, Poland, for their three-day tour in July.
It comes after Kate and William decided to break with royal rules and travel with baby George to Australia in 2014 in breach of protocol about direct heirs flying together.
The couple flew with their son, who was nine months old at the time.
Previous generations of the Royal Family, including the Queen, carried out tours without their children who were left behind with governesses.
Kensington Palace declined to comment when contacted by MailOnline.
Earlier this week it was revealed that Kate, 35, and her fellow royals are bound by strict protocol not to give out their signatures because of the risk of them being forged The Express reported.
Additionally, a royal signature can fetch a significant amount of money when sold on - a Christmas card signed by the Queen is currently for sale on eBay for £1,200, so naturally the family is keen to avoid fakes circulating.
The only time a royal has made an exception was when the Prince of Wales whipped out his royal Parker Pen and scribbled "Charles 2010" on a scrap of paper for the victims of devastating flooding in Cornwall.