Back in 2002, Prince Harry made headlines when he admitted to smoking marijuana. He stirred up more controversy in 2005 when he dressed up as a Nazi officer, which he quickly apologized for.
In August 2012, naked pictures of Prince Harry circulated after he let his guard (and pants) down for a game of strip billiards with friends in Las Vegas. He maintained that the whole thing was a violation of his privacy, but soon after the incident, he took responsibility for his actions, saying, "I let myself down, I let my family down, I let other people down."
The queen famously sews weights into her hemlines to avoid any mishaps, but Catherine, Duchess of Cambridge, has apparently opted not to, and in May 2014, a German magazine posted pictures of her actual butt cheeks.