The royal couple visited staff at Gloucestershire Royal Hospital where they met with around 20 key staff while following social distancing rules. The group included frontline workers and other healthcare professionals who have worked at the site throughout the pandemic. The couple did not go inside the hospital.
They did not wear masks or gloves for their visit.
They chatted to healthcare workers for around half an hour before being whisked away from the site.
Camilla wore a dark blue knee-length dress for the outing.
The duchess told staff they were "the best of Britain" as they have "done the most remarkable things" during the epidemic.
She praised them for "the way they have looked after people" and "kept control of the whole thing" without panicking.
The walk around the hospital grounds marked the first time the pair carried out an engagement since going into lockdown in March.
Charles had isolated from Camilla at their Scottish country home after he contracted coronavirus.
Speaking to ITV News after they had spoken to hospital staff, Charles and Camilla heaped praise on the workers.
Charles said: "It's been a marvellous opportunity just to have a chance of seeing people who I know have been doing so much on the, literally, on the frontline, and having to endure an awful lot of stress and strain.
"I think in their wonderful way how they do it, I don't know. But delivering everything in the most effective way.
"And the great thing they're all saying is that it's brought different departments together in a way that hadn't always happened before. So, there's been a great deal of marvellous cooperation I think."
When asked if she thought Britons' appreciation for the NHS had grown as a result of the pandemic she said: "Oh I think it has."
She added: "I mean you can tell by all the people coming out every week to clap.
"I mean, they've done the most remarkable things. I mean, the way they've looked after people, the way they've sort of kept control of the whole thing, you know, a question of not panicking and getting on with it and I think they are Britain at its best."
The prince was out of self-isolation by the end of the month.
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Princess Anne visited the Duke of Gloucester Barracks near her Gatcombe Park home to meet soldiers who have been involved in COVID-19 operations.
With lockdown restrictions being eased, the royal family have chosen this week to take a step towards a return to normality.
Charles and Camilla met the workers in the grounds of Gloucestershire Royal Hospital in Gloucester, with everyone following social distancing guidelines and standing two metres apart.
It came as the Princess Royal was due to visit the nearby Duke of Gloucester Barracks to see military personnel being tested for Covid-19 before heading overseas.
On Thursday, Charles and Camilla will welcome French President Emmanuel Macron to the UK.
Their visit to Gloucester followed the appearance by the Queen on Saturday at a mini Trooping the Colour ceremony at Windsor Castle - the first time any member of the royal family had attended a national event since lockdown.