Prince William has wished England “good luck” in the Women’s World Cup final, in a video alongside his daughter Princess Charlotte.

The Prince of Wales apologised for not flying to Australia to watch the Lionesses play in person.

As president of the Football Association, he has been criticised by some for not flying out for the final against Spain in Sydney.

Later, King Charles urged the Lionesses to “roar to victory”.

In the message posted on social media, alongside a smiling Princess Charlotte holding a football, Prince William said: “Lionesses, I want to send you a huge good luck for tomorrow, we’re sorry we can’t be there in person but we’re so proud of everything you’ve achieved and the millions you’ve inspired here and around the world.

“So go out there tomorrow and really enjoy yourselves.”

Princess Charlotte – who recorded a similar video message with her father ahead of the 2022 European Championships final – ended the video by saying: “Good luck Lionesses.”

And later the King posted an image of a lioness on social media accompanied by the message “Good luck today Lionesses, and may you roar to victory!”.

If England win when they take on Spain at 11:00 BST on Sunday they would become the first England football team to win a World Cup since 1966.

No British royals will be present at the final, even though Queen Letizia of Spain is due to be there to cheer on England’s opponents..

Prime Minister Rishi Sunak will also not be attending. In a video message posted on social media on Saturday, he said the Lionesses “have inspired us with your skill, teamwork and courage” and “defied the odds, faced down the doubters and paved the way”.

Mr Sunak continued: “For my daughters, and every girl in this country, you have made football something for them. You have made them feel they belong on that pitch.

“So in a way, you have already brought football home. All that remains is to bring the trophy home too and the whole nation is rooting for you.”

Labour leader Sir Keir Starmer said watching the team inspire his daughter in their run to winning the Euros last year was an “incredibly special moment for me”.

“Whatever the result tomorrow, this England team has already left its mark,” he wrote on social media.

Harry Kane, captain of the England men’s team, wished the Lionesses good luck for the final, while manager Gareth Southgate said he could not offer them any advice “because you’ve done more than us already – and you know what is needed to win”.

Fara Williams, whose 172 matches make her England’s record appearance holder, said: “You girls will be talked about for years to come. Come on, bring it home!”

In a video shared by the Lionesses on social media, a whole host of celebrity fans joined the chorus of well-wishers – including former Spice Girls Geri Halliwell and Emma Bunton, presenter Claire Balding and double Olympic gold medallist Kelly Holmes who advised the team: “Go out there with passion and pride, yet again, and I’m sure you’re going to pick up that trophy.”

Arsenal and England legend Ian Wright, always one of England’s most passionate and vocal supporters, said: “Come on girls, you can do it. Like you always do.”

Prince William and the prime minister have both been criticised by sports broadcaster Gabby Logan for not attending the final in person.

“I have to say I’m disappointed that Prince William isn’t going with his role at the FA and the history that is going to happen and be created on Sunday, one way or the other,” she told the BBC’s Newscast podcast.

She added that she thought the pair would attend if the men’s team had made the final.

Former culture minister Lord Vaizey had also called on them to fly to Sydney, saying it would be “unthinkable for them to miss a men’s final”.

Downing Street has previously said there are “no plans” for an extra bank holiday if England lift the trophy.

A government spokesperson said: “Winning the World Cup would be a massive moment for the country and make no mistake we’ll find the right way to celebrate.

“As Sarina Wiegman herself has said, the first thing to do is focus on the final and the whole country will be rooting for the Lionesses this weekend.”

Both Labour and the Liberal Democrats have called for a bank holiday if England make history by winning the tournament.

Foreign Secretary James Cleverley and Culture Secretary Lucy Frazer will attend the final on behalf of the UK government.

Queen Letizia of Spain is due to be there to cheer on England’s opponents.

England secured their place in the final by beating co-hosts Australia 3-1 on Wednesday.

In a statement issued after the match, the King – who is head of state of both the UK and Australia – paid tribute to both sides.

He said: “While your victory may have cost the magnificent Matildas their chance for the greatest prize in the game, both teams have been an inspiration on and off the pitch – and for that, both nations are united in pride, admiration and respect.”

The Women’s World Cup final between England and Spain on Sunday will be shown live on BBC One, BBC iPlayer and the BBC Sport website from 10am.

BBC Radio 5 Live and BBC Sounds will have radio commentary as both sides aim to win their first World Cup.

The BBC Sport website and app will provide live text commentary.