The Prince of Wales, 43, marked the day with a photograph of him as a child with his mother, who died in a Paris car crash in 1997 when William was just 15.
The photograph - taken at Highgrove in 1984 - showed William in a field of flowers, holding hands with his mother.
"Remembering my mother, today and every day. Thinking of all those who are remembering someone they love today. Happy Mother's Day. W", he wrote.
King Charles and Charles' wife Queen Camilla also marked the day on Instagram.
They posted pictures of Charles' mother Queen Elizabeth II – who died in 2022 - and Queen Camilla with her late mother Rosalind Shand, and wrote: "Wishing Mothers everywhere, and those who might be missing their Mums today, a restful Mothering Sunday."
Meanwhile, William's brother and sister-in-law, The Duke and Duchess of Sussex, recently blasted claims made about them in a new royal book as "deranged conspiracy", including an allegation that a Queen Camilla had told friends that Meghan had "brainwashed Harry".
A spokesperson for the couple - who relocated to California after stepping down as working royals in 2020 - has stated that Tom Bower's forthcoming book Betrayal: Power, Deceit And The Fight For The Future Of The Royal Family has "crossed the line from criticism into fixation".
Extracts from the book have appeared in The Times newspaper ahead of its publication later this month and along with the claim about Queen Camilla, it also alleges that a former Invictus Games executive claimed Meghan was a distraction from injured veterans and described her as "bling, not rehabilitation".
In a statement, the spokesperson said: "This is someone who has publicly stated, 'the monarchy in fact depends on actually obliterating the Sussexes from our state of life', language that speaks for itself.
"He has made a career out of constructing ever more elaborate theories about people he does not know and has never met.
"Those interested in facts will look elsewhere; those seeking deranged conspiracy and melodrama know exactly where to find him."".