William, Kate and Harry, who were all official ambassadors for Team GB and Paralympics GB at London 2012, will watch athletes from across the globe compete at the event being staged in Glasgow next month.
The Queen will formally open the Games in a ceremony at Celtic Park on July 23 attended by the Prince of Wales, the Duchess of Cornwall and the Earl and Countess of Wessex.
During the ceremony the Queen will read aloud the message she placed in her baton that has been travelling around the world and is nearing the end of its journey.
The following day, the Queen and the Duke of Edinburgh will visit Commonwealth Games sites, while William, Kate and Harry will join spectators at the sporting championships on July 28 and 29.
Edward, who is vice patron of the Commonwealth Games Federation, and Sophie will attend events throughout the two weeks of the Games, with the Earl closing the championships on August 3.
Charles and Camilla will visit a Commonwealth Games venue in advance of the opening ceremony on July 23.
Other members of the Royal Family who will visit the Games include the Princess Royal on July 26, and the Duke and Duchess of Gloucester on July 24 and 25.