The royal couple will visit Papua New Guinea, Australia and New Zealand and the high profile figures from the three nations are also invited to the event.
The 44-year-old Australian singer, who now lives in London, believes the country will offer the royals a "warm welcome" when they tour, reported BBC online.
"I hope she has a beautiful warm welcome. I know that they will both enjoy the hospitality Australia offers. I'm sure currently at the other end of the earth they are planning the best time for them. I hope they enjoy it," she said.
Among the 200 guests that attended Minogues performance included comedian Barry Humphreys, broadcaster and musician Rolf Harris and 'Strictly Come Dancing' judge Craig Revel-Horwood.
