She spoke to staff and volunteers and signed the visitors book on HMS Trincomalee, the oldest floating warship in Britain.
The museum was closed to the public during the visit but get a flavour by scrolling through the following photos.
1. Hearing about exciting plans
The princess's visit marked the start of the next phase of redevelopment at the National Museum of the Royal Navy in Hartlepool aimed at increasing visitor numbers. Photo: Stu Norton
2. A warm welcome from the police
HRH Princess Anne The Princess Royal is greeted by Assistant Chief Constable Steve Graham of Clevend Police at the royal navy museum. Photo: Stu Norton
3. Dignitaries welcome princess
One of the first to welcome The Princess Royal was Ceremonial Mayor of Hartlepool Councillor Brenda Loynes. Photo: Stu Norton
4. So happy to see you
Roslyn Adamson, general manager of the naval museum shakes hands with the princess. Photo: Ian McClelland