Robin Williams brought the house down at a gala night of comedy in honour of the Prince of Wales’ 60th birthday.

The 57-year-old Hollywood star, who was making his first UK stage appearance in more than 25 years, welcomed Charles to the theatre with the call: “Yo, yo Wales – House of Windsor, keeping it real.”

The Prince was joined in the circle for the We Are Most Amused night at the New Wimbledon Theatre by the Duchess of Cornwall and son Prince Harry. Robin is playing a few dates in the UK and will donate the proceeds from two gigs to the Prince’s Trust.

He launched straight into a routine about the recent American presidential elections that put the first black man into the White House. He said: “Obama is an old Kenyan word for Kennedy”, and added, “America’s officially out of rehab”.

Cleese played a curmudgeonly old character in a wheelchair who passed criticism on all the acts, and told the Prince, who tried to stifle his laughter: “What better tribute to the heir to the throne of this formerly great country that we should bring him tonight to this cramped old theatre somewhere in the God-forsaken suburb.”

Andrew Sachs also did a turn as his Fawlty Towers character Manuel. Other comedians in the line up were Joan Rivers, Bill Bailey and Omid Djalili.

Highlights of the evening will be broadcast on ITV1 on Saturday at 8.35pm