Bishop Paul Hinder, the Apostolic Vicariate of Southern Arabia, joined Charles and Camilla at the Emirati city's vast Sheikh Zayed Grand Mosque for a event promoting religious tolerance.
Bishop Paul said: "The prince was able to speak to us and see the mutual tolerance which is reality in this country.
"It doesn't happen all over the world that we can meet in such a place in such a formation.
"Living and seeing this reality has an impact."
Charles and Camilla were shown around the mosque by Sheikha Lubna Al Qasimi, the United Arab Emirates' (UAE) minister of state for tolerance.
Established in 2008 following an eleven year construction project, the landmark aims to work with religious, education, cultural and research institutions from around the globe.
The Prince of Wales and Duchess of Cornwall arrived in the UAE from Oman on Sunday, as they continue a tour of the region.
The United Arab Emirates is home to more than 200 nationalities.