George Alexander Louis, third in line to Britain's throne and officially known as His Royal Highness Prince George of Cambridge, can be seen sharing his ice cream with the family dog Lupo in one of four images taken at his Anmer Hall family estate in Norfolk in the east of England.
The photos were taken earlier this month at the family's country home.
They would like to thank everyone for all the lovely messages they have received as Prince George celebrates his third birthday," a Kensington Palace statement said.
Sitting on a picnic blanket in the garden of William and Kate's family home, George holds out his ice cream to Lupo who seems to be resisting the urge to lick it.
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Kensington Palace tweeted the image with the caption: "Can't believe it's been three years already!"
The moment was captured by photographer Matt Porteous, who was recommended to the family for the birthday photo shoot.
Another image shows George balancing on a wooden swing marked 'William & Catherine', a third image shows him sitting on the swing and the last image shows the little prince looking inquisitive as he walks through the garden.
The future king of Britain, who is in line to the throne after grandfather Prince Charles and father Prince William, is pictured barefoot in two of the photographs and is wearing shorts in all the pictures.