The couple joined in some of the training exercises at the £50m state-of-the-art training site, at Desertcreat just outside Cookstown, which opened in May.
The multi-million pound training centre represents the biggest capital investment in the fire service’s history.
It includes a tactical firefighting facility, a floodwater rescue facility, a replica village and a training warehouse.
The royal couple were given a tour of the 50-acre site and were taken to and from different areas in a fire appliance.
They were shown training exercises including flood-water and rope rescues and they both joined in for one of the rope-throwing exercises.
The visit coincides with fire safety week.
Chief fire officer Aidan Jennings described it as a “proud and unforgettable day for our service”.