The court also ordered Closer magazine's editor Laurence Pieau and publisher Ernesto Mauri to each pay 45,000 euros (USD 53,000) in fines, the maximum possible.
The couple had sought 1.5 million euros in damages and interest.
Closer magazine's lawyer Paul-Albert Iweins said he was "pleased" with the ruling on the damages to pay, but said the fine was "exaggerated for a simple private matter."
For his part, the royal couple's lawyer Jean Veil declined to comment, adding that Kensington Palace would make a statement.
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The grainy snaps of Kate Middleton sunbathing in a bikini bottom were taken while she was on holiday in September 2012 in the south of France with her husband, the second in line to the British throne.
The couple were snapped with a long lens relaxing by a pool at a chateau belonging to Viscount Linley, a nephew of Queen Elizabeth.
The pictures triggered a furious reaction from the royal family in Britain, where several newspapers rejected an offer to buy the pictures.
The royals - who announced Monday they are expecting a third child - filed a criminal complaint for invasion of privacy and obtained an injunction preventing further use of the images.
The court also ordered Closer to hand over the files with the images to the royal couple.
In a letter read out in court in May, William said the case reminded him of the paparazzi hounding of his mother, princess Diana, who was killed in a car crash in Paris 20 years ago.