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The youngster from Holywell, Flintshire, was born without a fibula in his left leg and his foot was removed at 15 months.
Despite this, at four he became the youngest amputee to scale Yr Wyddfa, also known as Snowdon, Wales' highest peak.
Albie-Junior and his father have since embarked on several climbing challenges together raising thousands for their local football club in the process.
In August, he finished the Three Peaks Challenge in 22 hours and 30 minutes alongside his dad, powered by ham and cheese sandwiches, sour sweets and four months' training.
This included conquering Ben Nevis in Scotland and Scafell Pike in England as well as Yr Wyddfa.
Daniel described the moment they received a phone call inviting them to Windsor Castle as "unbelievable".
Once they arrived, Daniel said he stayed in the background, letting Albie-Junior enjoy the experience as "it was his thing".
"For him it was just like a chat to a lady, you know, just the innocence of it," he said.
"It's like a mother talking to a son."
He said the conversation stood out to him because of how "pleasant" it was and said Catherine made him like they were "both equals".
In a post on X, the princess said: "Listening to their experiences of the challenge and their reasons for taking it on was a powerful reminder that recovery is rarely a journey we make alone, and of the importance of the people who walk alongside us along the way."
