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The adult male rhino was shot dead and its horn was cut off.
Just hours earlier, the royal couple came within 50 yards (metres) of a rare one-horned rhino during their safari.
The 430 sq km (166 sq mile) park, in the north-eastern state of Assam, is home to the world's largest concentration of one-horned rhinos.
Wildlife poachers pose the biggest threat to the animals, killing them for their horns. The animal is currently listed as "vulnerable" by conservation groups.
Seven rhinos have already been killed in 2016, while 20 were poached in 2015.
Kaziranga is estimated to be home to 2,400 one-horned rhinos out of a global population of 3,300.
The national park is also home to elephants, water buffalo, the endangered swamp deer and tigers.

The fire service apprentice mechanic died in the collision on the A5 in Capel Curig in Snowdonia on Tuesday.
North Wales chief fire officer Simon Smith said: "Today our thoughts are with everyone affected by this incident, but particularly with the family of the colleague we have lost."
Support has been offered to staff.
Mr Roberts was based at the fire service's fleet department at Llandudno Junction, Conwy county.
Mr Smith said: "Our service attends road traffic collisions often and they are always difficult for our staff to deal with, but even more so when they involve a close colleague."
The crash, near the Siabod Cafe, involved Mr Roberts' red Seat Leon and a silver Mercedes car.
North Wales Police has appealed for witnesses.

De Niro is opening the Sarajevo Film Festival on Friday with a screening of his 1976 classic Taxi Driver, digitally restored for its 40th anniversary.
He is also due to be presented with a lifetime achievement award.
Sarajevo's film festival was founded in 1995 during the Bosnian war, after nearly four years under siege.
About 300 taxi drivers have put up posters in De Niro's honour, Reuters reported.
"Many of our colleagues became taxi drivers after being retired from the Bosnian army and in a sign of gratitude and compassion with the main character we have decided to stage him a warm welcome in this way," Hasib Losic of the Sarajevo Taxi Association told the agency.
Taxi Driver depicts the life of an isolated, angry army veteran turned taxi driver on the streets of New York.
Each day we feature a photograph sent in from across England.
[NEXT_CONCEPT]
A rhino was killed by poachers in India's Kaziranga national park on the same day the Duke and Duchess of Cambridge toured the sanctuary.
[NEXT_CONCEPT]
The man who died in a two-car collision in north Wales has been named as 19-year-old Trystan Rhun Roberts.
[NEXT_CONCEPT]
Taxi drivers in the Bosnian capital Sarajevo have been putting posters of Robert De Niro on their vehicles in tribute to the actor ahead of a visit.