The 24-year-old, who performed during the second semi-final of the contest last night, met the royal and two of her children – Prince Christian and Princess Isabella – just before going on stage.
“Meeting Princess Mary was absolutely divine,” the singer told SBS.
“She’s such a beautiful woman and she was very gracious meeting us and having us meet her children as well.”
Princess Mary looked divine in a red coat as she chatted to the pop singer from Darwin and posed for photographers.
Mauboy performed the dance song Sea Of Flags in a gorgeous gold Toni Maticevski gown.
Following her debut on the world’s most watched music contest, the singer tweeted: “Wow wow wow I can’t believe i just sung on #EurovisionSongContest2014”.