The trip comes 10 days after Charles, 76, had his own health scare, being admitted to hospital after experiencing temporary side effects from his cancer treatment.
Charles, who is the head of the Church of England, was scheduled to meet Pope Francis on Tuesday.
“Their Majesties send The Pope their best wishes for his convalescence and look forward to visiting him in The Holy See, once he has recovered,“ said the royal family’s official X account.
Charles, who is making his first visit to Italy as king, will instead spread his Rome engagements over two days, allowing “the programme to breathe a bit”, according to a royal source.
Charles will also meet Italy's Prime Minister Giorgia Meloni and President Sergio Mattarella, and is set to become the first British monarch to address a joint sitting of the Italian parliament, according to Buckingham Palace.
The king and queen are expected to celebrate their 20th wedding anniversary on Wednesday at a state banquet in Rome.
Charles announced he had cancer in February 2024.
Catherine, who is married to throne heir and Charles's eldest son, Prince William, said in January that she was now in remission.
But the Italy trip was thrown into doubt on March 27, when the palace announced Charles had been hospitalised due to side effects from his weekly treatment.
Charles and Camilla will also visit Rome and Ravenna in northern Italy to celebrate “the strong bilateral relationship between Italy and the United Kingdom”, the palace said.
While there, they will attend a reception marking the 80th anniversary of the region's liberation from Nazi occupation by Allied forces on April 10, 1945.
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