A trip on the royal train by the Prince of Wales from Scotland to Yorkshire cost taxpayers more than £33,000, royal accounts showed.
The two-day journey saw Charles travel from Ayr to Yorkshire in September to carry out engagements including a visit to HMP Leeds and a community shop and pub, before he travelled on to Aberdeen.
At £33,249, it was the most expensive trip by royal train in the last financial year.
Other journeys by the royal family included a charter flight by the Duke and Duchess of Cambridge from Northolt to Dundee and then to Oxford which cost £13,212.
Fifty-seven trips by the royals and their staff cost more than £10,000 each in 2015-16. More than half a million pounds was spent on helicopter flights, with 221 journeys coming to £569,483.
The Windsors' total official travel costs were £4 million - £1.1 million less than the previous 12 months.
The most expensive trip - at nearly £100,000 - was by Charles and the Duchess of Cornwall when they flew by charter plane for an official visit to Croatia, Serbia, Montenegro and Kosovo. The flights cost £94,409.
Charles also took a charter flight costing £74,500 from Luton to Aberdeen, then to Istanbul and Canakkale in Turkey before returning to Aberdeen and Northolt, for the Gallipoli campaign centenary.
During their summer break at Balmoral, the Prince and Camilla flew by charter from Aberdeen to Northolt to attend events commemorating the 70th anniversary of VJ Day at a cost of £24,096.
When the Prince flew to France in November to deliver a speech at the COP21 UN climate change conference, it cost the taxpayer £16,294.
A charter flight taking him from and to Aberdeen to attend the Chinese State Visit in London - but not the state banquet - in October came to £24,270.
A reconnaissance tour for Prince Harry's staff ahead of his trip to Lesotho and South Africa cost £12,480 in scheduled flights, while the actual trip in November cost more than £23,000 in scheduled flights, plus an internal charter of just over £2,500, totalling more than £38,400.
The Queen's travel costs for a trip to Malta cost more than £64,000, while her state visit to Germany travel came to more than £40,000.
Here are the top five most expensive trips by the royal family and their staff paid for by the taxpayer in 2015-16:
1) The Prince of Wales and the Duchess of Cornwall - charter flights to and from Croatia, Serbia, Montenegro and Kosovo - £94,409.
2) The Prince of Wales - charter flights for Gallipoli centenary in Turkey - £74,500.
3) The Queen and Duke of Edinburgh's trip to Malta - charter and scheduled flights totalling £64,054.
4) The Queen and Duke of Edinburgh's state visit to Germany - charter and scheduled flights totalling £40,088.
5) Prince Harry's visit to Lesotho and South Africa, including a separate planning visit by staff - £38,416.
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