"I nearly slipped," Shilpa said after the event at the Westminster Abbey. The Duke of Edinburgh told the Indian actress, "Look, be careful with your heels."
"The Queen just had a beautiful smile," said Shilpa, who almost stumbled on the metal grate in her high wooden heels.
Dressed in a purple velvet sherwani designed especially for the occasion, the 31-year-old actress was one of the five speakers at the event, according to the Daily Mail.
The multi-faith event was attended by over 2,000 people, including the Commonwealth secretary-general, foreign dignitaries and about 1,000 young people from Britain.
The ceremony is an annual event to mark Commonwealth Day, which is always celebrated on the second Monday in March.