Prince William and his wife were there as part of their nine-day tour of Canada.
The Duke was introduced to soldiers from the 22nd regiment as Kate looked on. He also received the freedom of the city.
Later, the couple met cheering crowds for several minutes, although there were also some anti-royal protesters there too.
In his speech, William said: "It's an honour for me to be here with you in Quebec today.
"For me, as a soldier and an airman, it is a privilege to have inspected a great regiment like the Royal 22nd.
"Your reputation is as strong as it is legendary. This place has such beauty and history.
"You, the Quebecois et Quebecoise, have such vitality and vigour. It is simply a pleasure to be here.
"Thank you for your patience with my accent, and I hope that we will have the chance to get to know each other over the years to come. Until the next time."
Earlier, the couple took part in a church service on board a Canadian warship where they had spent the night.
William and Kate attend church service on board HMCS Montreal
At the inter-denominational ceremony held in their honour on the deck, William and the Duches of Cambridge joined sailors and were included in prayers.
The frigate HMCS Montreal sailed overnight along the St Lawrence river from Montreal to Quebec City.
The couple slept in the quarters of the warship's head officer Commander Real Brisson.
When they first boarded on Saturday night after a busy day in Montreal, they joined the senior officer on his bridge and also met other members of the ship's company.
In the morning, they sat down to breakfast with officers in the mess.
The service was led by Brigadier-General Karl McLean, Chaplain General of the Canadian Forces, and it echoed across Quebec's Queen's wharf.
When prayers were said for leading figures like the Queen and Canadian Prime Minister Stephen Harper, the Duke and Duchess were also mentioned by the senior cleric.
Their visit was praised by Dennis Drainville, the Anglican Bishop of Quebec, one of a number of clergy who were part of the service.
He said: "The significance (of today) for me and for many Anglicans is very simple. We have a long association with the monarchy.
"William will someday by King and because of that his opportunity to come here and be among people - Canadians - and learn about Canada is very important, we are diverse."
He added: "Her Majesty the Queen is one of the most faithful individuals, every year she gives in her message an indication of the Christian values and virtues that are so important to us.
"William being her grandson I'm sure will carry on that tradition.
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