The multi-million pound training centre represents the biggest capital investment in the fire service’s history.
It includes a tactical firefighting facility, a floodwater rescue facility, a replica village and a training warehouse.
The royal couple were given a tour of the 50-acre site and were taken to and from different areas in a fire appliance.
They were shown training exercises including flood-water and rope rescues and they both joined in for one of the rope-throwing exercises.
The visit coincides with fire safety week.
Chief fire officer Aidan Jennings described it as a “proud and unforgettable day for our service”.
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