Prince Harry had already told the Queen and "other close members of his family" of the engagement, which took place in London earlier this month, Prince Charles said on Twitter. He also sought the blessing of Meghan's parents, Thomas Markle and Doria Radlan.
"Our daughter has always been a kind and loving person", they said. "It has been wonderful getting to know Meghan and to see how happy she and Harry are together", the royals said.
The two met in July 2016 through mutual friends in London.
"I think she would be over the moon, jumping up and down, you know so excited for me, but then, as I said, would have probably been best friends - best friends with Meghan".
It described nightly legal battles to keep defamatory stories out of papers, attempts by reporters and photographers to get into her home and the "bombardment" of almost every friend and loved one in her life.
For his part, the prince had never seen Suits, the American legal drama in which Ms Markle stars, and had never even heard of her before they met.
Much of the criticism toward Markle stemmed from the fact she attended Catholic high school, had a black father and white mother and has been divorced.
"Now it's time to work as a team with you", she said as she turned to Prince Harry.
Until recently, a union with Ms Markle would have ruled Prince Harry out of succeeding to the throne - due to her being a Roman Catholic.
Shortly after the announcement, a Buckingham Palace spokesman told CNN that Harry's grandmother, Queen Elizabeth II, and her husband, the Duke of Edinburgh are "delighted" for the couple and "wish them every happiness". The ring, which was designed by Prince Harry himself, is made with one big stone from Botswana and two smaller diamonds from Princess Diana's personal collection.
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