The Led Zeppelin legend and the 66-year-old rocker wowed fans at the iconic venue with a rendition of her bands hit '2,000 Miles' and Ersel Hickey's 'Bluebirds Over The Mountain'.
Plant's backing band The Sensational Shapeshifters were on fine form with the latest addition, multi-instrumentalist Seth Lakeman, doing a fantastic job switching between the viola and the fiddle.
Speaking ahead of the tour about his nerves performing for his hero, Seth exclusively told BANG Showbiz: ''If something goes wrong on that ... the thing about that tour is there will be a lot of people.
''There will be technicians. There will be a lot of people if something does happen.''
The showstopper of Plant's solo material was 'Carry Fire' from the album of the same name.
However, fans were highly-anticipating which Zeppelin tracks Plant would perform.
The 69-year-old rocker has been playing the iconic heavy rock band's 'Misty Mountain Hop' on his tour this year after a three-year gap.
He also did a rendition of 70s hit 'That's the Way', one of the soundtracks to 2000 movie 'Almost Famous', which starred the likes of Kate Hudson, the late Philip Seymour Hoffman and Zooey Deschanel.
The encore ending with 'Whole Lotta Love' concluded that while Plant's voice may not manage the higher-register tracks like it used to, the rock legend still has his sublime showmanship to fall back on.
Robert Plant's Royal Albert Hall setlist was as follows:
'Turn It Up'
'The May Queen'
'That's the Way' - Led Zeppelin
'All the King's Horses'
'House of Cards' - Richard and Linda Thompson cover
'Gallows Pole' cover
'Babe, I'm Gonna Leave You' - cover
'Little Maggie' cover
'Funny in My Mind (I Believe I'm Fixin' to Die)'
'Misty Mountain Hop' - Led Zeppelin
'What Is and What Should Never Be' - Led Zeppelin
'Bluebirds Over the Mountain' - Ersel Hickey cover with Chrissie Hynde
'2,000 Miles' - The Pretenders cover with Chrissie Hynde
'Whole Lotta Love' - Led Zeppelin