Prince William and Kate Middleton celebrated Robert Irwin’s “Dancing With the Stars” win with a sweet message.

“Congratulations Robert and Witney!” the Prince and Princess of Wales, both 43, wrote under Irwin’s Wednesday Instagram post.

In the post, Irwin, 21, shared a video of his onstage celebration with his pro partner, Witney Carson, after the pair won the Len Goodman Mirrorball Trophy and were lifted in the air by some of their co-stars.

“Dreams do come true ❤️,” Irwin — who previously received a special message from Prince William earlier in the season — captioned the video.

Irwin and Carson were named as the Season 34 “DWTS” Len Goodman Mirrorball Trophy winners during Tuesday’s three-hour finale.

The win comes 10 years after the zookeeper’s sister, Bindi Irwin, also won

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