He also said the broadcaster has been “a constant in our lives” and has reminded us to try and protect the world around us.
The future King then went on to talk about how Sir David has impacted younger generations, including his own children Prince George, Princess Charlotte and Prince Louis.
The Prince of Wales said: “Like millions across the world, my children have grown up with your incredible storytelling – a window into the wonders of nature that shaped their understanding of our planet, and their belief that it is something worth fighting for.
“And for me personally, your friendship has been profound. You have strengthened my own determination to act. To work with those who are raising awareness of the challenges and building the solutions that drive meaningful change.
“Through your support in establishing The Earthshot Prize, we are now striving to turn your inspiration into action, to champion those solutions that are creating a more sustainable future for us all.”
Before returning to his seat, William said David has given the world one of the “greatest gifts”, which is to believe that positive change can still happen.
The prince ended his speech with a personal address to the broadcaster, who was present at the evening event.
He said: “Sir David, thank you for your wisdom, your kindness, your dedication, and for reminding us, always, of the wonder of the world we call home.
“A very happy 100th birthday.”
The Royal Albert Hall celebration is hosted by Kirsty Young and includes performances from musicians who have featured on Sir David’s BBC Planet Earth TV series.