The 52-year-old Duke of York’s stunt began on the London skyscraper the Shard’s 87th floor and finished on the 20th and took him 30 minutes.
Following the descent, the prince said, “I will never do it again.”
Andrew was part of a group of about 40 participants raising funds for the Outward Bound Trust and the Royal Marines Charitable Trust Fund.
The prince, chairman of the trustees of the Outward Bound Trust, raised 290,000 pounds ($460,000).
Following the stunt, Andrew told reporters the “difficult bit was actually stepping out over the edge,” but he said his training with the Royal Marines had given him the confidence.