Mr Lucas, 52, said: “I asked him about football and whether he would be able to get to the cup final tomorrow that Aston Villa are playing in, and he said he can. He asked me what I was up to workwise and said some kind things about my work.”
The actor was made an Officer of the Order of the British Empire (OBE) for services to drama.
Last week, as patron of the Football Association, William attended the FA Cup final between Manchester City and Chelsea, where he presented the trophy to City.
He was joined by club ambassador Ahmed Elmohamady in the Villa Park stands in Birmingham.
William, patron of the Football Association, is a passionate Villa supporter and has followed the Midlands club since he was a schoolboy.
He was born less than a month after Villa’s most famous continental success, when they beat Bayern Munich to lift the European Cup in May 1982.