In the video, William, 40, with Princess Charlotte on her lap, praises the Lions for reaching the final, before ending the video, Charlotte saying “good luck and I hope you win” as she waving at the camera.
In a social media post, the royal added: “Good luck tonight Lionesses, we’re all cheering for you!”
England captain Harry Kane also paid tribute to the Lionesses, saying: “Hi Lionesses, I just wanted to wish you all the best for today’s game against Germany.
“It will be a great experience, incredible atmosphere at Wembley. I can’t wait to be there myself, so I wish you all the best.
“Good luck, get that win, the whole country is behind you.”
England will face eight-time champions Germany the following Sunday in an attempt to claim the first major trophy in women’s history.
On Sunday, the Lions will seek revenge against Germany after losing 6-2 in the Euro 2009 final.
Before the match, Boris Johnson and Sir Keir Starmer also paid tribute to the team.
The Prime Minister said: “Your passion for the game, your perseverance in the dribbling and above all your incredible talent on the pitch made for a summer full of memories. great for millions of us.
“You can see it in the sold-out stands, in the areas packed with fans, in the little children dancing wildly to Sweet Caroline and the TV viewers who have watched the records fall. poured almost as comprehensively as the Swedish defense did in the semi-final. “
Mr Johnson added that: “In any pride, it’s the lionesses that hunt mercilessly as a team and take their prize home, and I’m sure that will be the case against Virtue.”
Sir Keir added: “As a parent, I know how important it is to see strong and successful role models in sport. What you and your teammates have achieved this summer will not only be celebrated as a great moment for English football but a moment of encouragement and inspiration for young women like my daughter. . “
He added: “It’s coming home!”
The Mayor of London, Sadiq Khan also paid tribute to the team and issued a warning about the number of fans attending the Support Party in Trafalgar Square.
England beat Sweden 4-0 in the semi-final at Bramall Lane on Tuesday and will be looking to reverse the odds with a team that has won 21 of their 27 meetings.