Camilla, Duchess of Cornwall ditches heels and goes barefoot on the beach

The Duchess of Cornwall felt the sand between her toes on Friday. Photo / Getty Images

Prince Charles and the Duchess of Cornwall enjoyed a walk on the beach as they continued their tour of the Republic of Ireland on Friday.

Camilla, 69, kicked off her shoes to join her husband for the stroll along the sand at Derrynane beach, County Kerry.

The royal couple, who are on the second day of a two-day visit, looked relaxed as they walked along the windy coastline, reports The Daily Mail.

Charles was smartly dressed in a three-piece suit and tie and kept his leather shoes on for the stroll.

However Camilla, who wore a teal skirt suit, clearly wanted to feel a little more comfortable and opted to go barefoot for the outing.

Camilla was seen shaking off her shoes before climbing into the helicopter and on to her next engagement.

Charles and Camilla have had an action-packed few days touring Northern Ireland and the Irish Republic.

The Duchess of Cornwall, 69, kicked off her shoes to join her husband Prince Charles for the stroll along the sand at Derrynane beach, County Kerry. Photo / Getty Images

Today they were taken on a guided tour of the home of the 19th-century Irish lawyer and politician known as the Liberator.

Charles and Camilla walked through the rooms where Daniel O'Connell, who campaigned for rights for all Irish people, lived and worked.

O'Connell, who was born in the late 18th century, was famed for his 'monster meetings' - enormous public gatherings where hundreds of thousands of people would congregate to hear him speak.

He gained an international reputation and played a leading role in the movement to abolish slavery.

The royal couple were visiting his home Derrynane House in County Kerry, a large mansion in a picturesque setting where O'Connell escaped the pressures of political life.

The building tells the story of the campaigner's life through his personal artefacts and possessions.