The images, shot with a long-lens camera, were first printed in French Closer before being published by Italian magazine Chi and the Irish Daily Star, as well as being available online.
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The court has imposed a daily fine of €10,000 (£8,060) if the images are republished or distributed by Closer.
French Closer cannot sell the photographs to anywhere else in the world, and the images cannot be published by any other newspapers or magazines in France.
The publishers have been told they must give the original images to the couple within 24 hours.
The royal couple have also been given legal fees of €2,000.
A preliminary criminal investigation has been launched by the French prosecutor following a complaint by Prince William and the Duchess of Cambridge.
A year of the Duchess of Cambridge:
Copyright: PA Images