The Paralympic-style sporting event has seen nearly 500 athletes from 14 different countries compete in this year's games, which is held for wounded, injured and sick servicemen and women.
Started in 2014 by Harry, the Invictus Games uses the power of sport to inspire recovery and support rehabilitation.
Click through our gallery of Harry's best moments...
At Disney's ESPN Wide World of Sports Champion Stadium, Harry proudly opened the 2016 Invictus Games.
"I am a long way from London tonight, but when I look out I see so many familiar faces, servicemen and women, their friends and their families, and all the people who got them here. I feel like I'm home," said Harry.
"I served alongside soldiers from all over the world," the 31-year-old added. "I saw the sacrifices you and your families made to serve your nations. I learned about the importance of team work and camaraderie in the way that only military service can teach you."
First Lady Michelle Obama took to the stage towards the end of the ceremony.
"It is truly an honour to be here tonight to help kick off this year's Invictus Games," she said. "I want to, of course, start by thanking Prince Harry for his outstanding leadership and for bringing the Invictus Games here to Orlando. He is truly our Prince Charming. He should be proud of his work."
Apart from Michelle, who is an avid supporter of the Invictus Games, other celebrities helped Harry launch this year's tournament.
Seated front row next to duo were Morgan Freeman and George W Bush, the honorary chairman of this year's games.
The Prince met children of servicemen and women during the opening ceremony of the Invictus Games and was more than happy to pose with his young fans.
Harry toured some of the sports venues ahead of the games and on one of his trips he met the gorgeous golden retriever Jasmine, a medical alert service dog who supports her owner David Romero, an Air Force veteran.
Harry was clearly taken by his four-legged friend, and bent down to scratch her neck.
Something had Harry in stitches as he watched a seated volleyball match on Saturday.
Rio Woolf, a seven-year-old amputee, had his dream come true when he met Prince Harry at the powerlifting event.
The youngster made an appearance on Good Morning Britain ahead of the games, in which he explained that the Paralympic athletes are his heroes and he couldn't wait to meet the team members and Harry.
Rio, who loves playing amputee football and sitting volleyball, also copied Harry's epic "boom" drop on live TV.
Ever a natural with children, Harry entertained baby Pippa, the daughter of British double gold winner (recumbant cycling) Rob Cromey-Hawke.
The Prince cooed over the little girl, who wore a sweet babygro that read "I am supporting my daddy! Team UK."
The royal planted a kiss on American cyclist Katie Koupier, who suffered a gunshot wound to the head in 2013. Katie formerly served as an intelligence analyst for the US army.
She met Harry early on in the tournament, with her fellow cyclist team mates.
The Prince was clearly impressed by an Invictus photographer's moustache.
Harry showed off his playful side, biting into Jaco van Gass's gold medal at the road cycling event.
The royal gave some words of comfort to the Georgia team after they were beaten by the UK Armed Forces Team at sitting volleyball.
At a reception for the Invictus Games, Harry was presented with a pair of orange cloggs by the Dutch team captain Rahmon Zondervan.
The royal laughed off a slight mishap as he started a race at the track and field event on Tuesday.
Air Force Technical Sergeant Israel Del Toro, who suffered burns on 80 per cent of his body after an IED explosion in Afghanistan in 2005, has been a regular fixture at the Invictus Games.
Israel supported Harry a day-long symposium on mental health, just before the tournament, and has also been taking part in some of the track and field events.
Harry celebrates with David 'Wisey' Wiseman and the 4 x 50m relay team who won gold at the swimming event.
David is the UK Armed Forces Team Captain and a good friend of the Prince.
Harry congratulated Team USA after their win at wheelchair basketball. The royal kissed one of the player's heads while giving out the gold medals.
The Prince stood up and gave a salute as he was caught on the 'Salute Cam' during the GBR vs Australia wheelchair rugby match.
The pair later joked around in the competitor's tent, with Harry trying on Elizabeth's petite Team USA jacket.
The royal sat next to Vice President Joe Biden at the wheelchair rugby finals, where USA beat Denmark.
The politician gave a speech at the event, praising Harry who founded the Invictus Games, while also joking that his wife Jill "spent too much time" with Harry at the 2014 games.
Mr Biden went on to praise the wounded servicemen and women for being the "spine and backbone" of the country. "Thanks for being who you are," he said.
The vice president also paid tribute to his son Beau, who died in 2015 following a battle with brain cancer.
"We're a military family," he said. "Our son Beau was a major. He used to have a saying and he lived it, he'd say "never complain and never explain". And he lived it."
Harry shared a poignant moment with Sergeant Elizabeth Marks, who won a gold medal at the 100m freestyle swimming event.
Elizabeth was treated at Papworth Hospital in the UK in 2014 and to say thank you to medical staff, she asked Harry to donate her accolade to the hospital.
Prince Harry helped a service dog out from the pool as they took part in a race in the pool with their Invictus competitor handlers on the final day of the Invictus Games Orlando 2016.
On the last day of the Invictus Games, the royal met 95-year-old Ruth Uffleman and delighted her with a sweet kiss on her hand.
Harry also played peekaboo with a baby.
During the closing speech Prince Harry hailed an 'extraordinary' Invictus Games and paid tribute to the 485 veterans who took part.