But she's hardly the first royal woman to do so while visiting an Asian nation.
During a trip to Istanbul, Turkey, in 2007, the Duchess of Cornwall followed custom, wearing a gray headscarf to enter the Eyüp Sultan Mosque while visiting with Prince Charles.
But perhaps the most striking memory conjured by Kate's display on Friday was that of Princess Diana, who visited a Pakistani mosque in 1991 in an equally feminine headscarf.
The late princess spent much of her reign traveling the world, visiting the ill and underprivileged and acting as an ambassador for Great Britain.
Kate and her husband, Prince William, are in the midst of a nine-day Asian tour as part of the Queen's Diamond Jubilee celebration.
In Malaysia through Saturday, the pair, who are coping with a topless photo scandal, will move on to the Solomon Islands on Sunday before ending their duties in Tuvalu.