Co-designed by TV gardener Monty Don, the dog-friendly garden was unveiled at the Chelsea Flower Show earlier this year, before being moved to its permanent site at Battersea in London.
Complete with a lawn, shrubs and even a little pond, the garden is designed to offer dogs in rescue the chance to run, sniff and explore the space.
Smitten with Dipsy
Queen Camilla, who has been a patron of the charity since 2017, attended the inauguration.
She was immediately introduced to Dipsy, an adorable 7-week-old Jack Russell. Gently tickling him behind the ear, she was told the puppy would soon be off to his new home with a staff member of the charity.
"I'd have taken him", she joked to fellow attendees.
Passionate about rescue dogs
The Monarch is a passionate advocate for rescue and re-homing, offering long-standing support to the London-based charity.
She has adopted three dogs in the past, and currently shares her life with Terrier cross Moley.
On this particular occasion it was too hot to bring Moley along, she explained.
"Whilst Moley was keeping cool at home, she wishes she could have been reunited with some of her old friends!", The Royal Family shared on Instagram.
