The photographs were taken by her mother, the latest in a series of pictures taken by Kate of her children.
In the pictures, Charlotte, who turns one today, is seen walking, with the aid of baby walker, for the first time.
The new photographs show Charlotte wearing a blue collared dress with matching tights and white cardigan, and a similar outfit in pink.
Kensington Palace said the Duke and Duchess were delighted to share the pictures.
“The Duke and Duchess are very happy to be able to share these important family moments and hope that everyone enjoys these lovely photos as much as they do,” said a statement from Kensington Palace.
The Duchess took a series of photographs in the weeks after Charlotte’s birth, in which she is seen being cradled by brother Prince George, and another set to mark her daughter being six-months-old.
In March, the couple released a series of photographs taken on their skiing holiday to the French Alps.
Kate also took pictures showing George on his first day at school at a Montessori school in East Walton.
The Duchess herself featured in photographs released over the weekend, a fashion shoot at Anmer for Vogue magazine.