The two women sat down for tea together at Clarence House, where Pelicot was joined by her partner, Jean-Loup Agopian, and her literary and legal team.
The Queen first spoke to her guests in French, joking she had “forgotten” the language after studying it “60 years ago”. Afterwards, she spoke through an interpreter.
Pelicot said she had received “incredible strength” from the public after coming forward with her story. “You have so much support,” the Queen said in response.
The meeting came after Pelicot launched her book at a sold-out event at London’s Royal Festival Hall on Friday. It featured readings from Hollywood actresses Kate Winslet, Dame Kristin Scott Thomas and Juliet Stevenson.
Last year, Queen Camilla sent Pelicot a letter praising her “extraordinary dignity and courage”.
In the letter, the Queen said Pelicot had “inspired women across the globe” and “created a powerful legacy that will change the narrative around shame, forever”.
Pelicot said the letter, which left her “overwhelmed”, was now framed in her office.