Camilla cradled Matilda, a nine-month-old orphan, and said she wanted to take the tiny furry creature home with her.
Charles was more pragmatic and joked about the koalas' reputation for having weak bladders when he was handed four-year-old Kao.
Koala rescue volunteers Warren and Rae Campbell had brought the animals to Government House in Adelaide for the royal couple to meet.
The two animals were busily munching eucalyptus leaves as the royal couple arrived.
Picture: Getty Images