"The President received a warm welcome and the meeting lasted just under an hour", writes Buckingham Palace in a statement, according to Sky News.
Local residents had gathered outside the estate with Ukrainian flags to show their support for Ukraine and Zelenskyj.
The meeting took place after the Ukrainian President had participated in a top meeting in London with 18 other leaders.
Images showed how Charles, wearing a grey double-breasted suit, received Zelenskyj, dressed in black trousers and a black round-necked sweater, outside the house. They shook hands and were also seen posing for cameras inside the estate.
Zelenskyj flew back and forth to Sandringham, 17 miles north of London, in a military helicopter.
When the British Prime Minister Keir Starmer visited the White House earlier in the week, an invitation to visit Charles was also handed over to the US President Donald Trump.
