Meghan and Harry handed out two of the three prizes during the ceremony, with Harry making a speech.
The awards, set up by the Royal Foundation overseen by the Duke and Duchess of Sussex and the Duke and Duchess of Cambridge and celebrating its third year, recognise serving and former service members who have used athletics or adventure to challenge themselves as part of their recovery and rehabilitation.
The awards align with other initiatives to help veterans, including the Invictus Games, Harry's Paralympic-style contest for sick, injured and wounded serving and former armed forces members.
Since its launch in 2012, the Endeavour Fund has supported 86 different projects that have directly assisted over 5,000 wounded, injured and sick servicemen and women. Through their own fundraising, these endeavours have collectively raised over $3 million for other forces charities.
WATCH: Meghan Markle's Best Friends Break Their Silence.