A man lunged at Prince Charles and the Duchess of Cornwall in their car and sparked a security alert as the royal couple were on their way to the enthronement of the Archbishop of Canterbury.
Royal protection officers and police wrestled the manout of the way after he dashed towards the limo of the heir to the throne.
A Kent Police spokesman said: "He was arrested after running at the car which was carrying the Prince of Wales into Canterbury Cathedral. The incident took place just outside Mint Yard Gate. There were no other incidents or arrests."
The 47-year-old man, named locally as Jonathan Elliot, from Whitstable, Kent, appeared at Canterbury magistrates court accused of breaching the peace.
Charles and Camilla were at Canterbury Cathedral to see the new archbishop officially installed as head of the Anglican Church. He is the spiritual leader of 77 million worshippers across the world.
One duty of the archbishop is to crown the monarch king or queen of England at Westminster Abbey.
Politicians and religious leaders joined the royal couple for the enthronement ceremony, which included a performance by African drummers in a nod to Archbishop Justin Welby's missionary work in Africa.
Also at the ceremony were Prime Minister David Cameron and Labour party leader Ed Miliband, who sat side by side in the cathedral.