William was at Wembley as England's Lionesses beat Germany 2-1 after extra time in front of 87,000 supporters on Sunday.
Victory secures England's first major tournament title since 1966, bringing the country together with celebrations planned on Monday.
The Duke, who is president of the Football Association and presented Sarina Wiegman’s side with their medals, also congratulated the team for their “sensational” win.
In a rare personal tweet, he added: “An incredible win @lionesses and the whole nation couldn’t be prouder of you all.
“Wonderful to see history in the making tonight at Wembley, congratulations! W.”
Prince William watched on at Wembley
MOLLY DARLINGTON
Chloe Kelly scored the winner against Germany
PETER CZIBORRA
The Queen also hailed England’s heroics win as “an inspiration for girls and women” across the nation.
In a message shared on the Royal Family Twitter account, the Queen said: “My warmest congratulations, and those of my family, go to you all on winning the European Women’s Football Championships.
“It is a significant achievement for the entire team, including your support staff.
“The Championships and your performance in them have rightly won praise. However, your success goes far beyond the trophy you have so deservedly earned.
“You have all set an example that will be an inspiration for girls and women today, and for future generations.
“It is my hope that you will be as proud of the impact you have had on your sport as you are of the result today.”
Following the match, Culture Secretary Nadine Dorries announced that grassroots facilities would be named after the 23 England players in and around each of their home towns or places that shaped their footballing careers.
Ms Dorries said: “Millions of women and girls have been inspired by the team’s success and honouring their achievements will mean they leave a lasting impression at grassroots facilities across England.”
Chloe Kelly scored the winner after Ella Toone’s lobbed opener had been cancelled out by Lina Magull with 11 minutes of normal time remaining.
Kelly celebrated her winning goal by taking off her shirt and whirling it above her head, a celebration made famous by Brandi Chastain after netting the winning penalty for the United States in the 1999 World Cup.
The game was still in progress when Chastain took to social media to congratulate Kelly, writing: “I see you @Chloe_Kelly98 well done.
"Enjoy the free rounds of pints and dinners for the rest of your life from all of England. Cheers!”
England men’s captain Harry Kane wrote on Twitter: “Absolutely unreal scenes at Wembley!! Massive congrats to the amazing @Lionesses !! @ellatoone99 take a bow for that finish too.”
And former England striker Gary Lineker wrote: “Football is a simple game. 22 women chase a ball for 90 minutes and, at the end, England actually win. Congratulations @lionesses . Fabulous.”