William will begin his tour in Jordan on June 24 and travel on to Tel Aviv the following day, the palace, his official residence, said in a statement
He will visit Jerusalem on June 26 and then go on to Ramallah on June 27.
The visit by the second in line to the throne "is at the request of Her Majesty's government and has been welcomed by the Israeli, Jordanian and Palestinian authorities", the statement said.
There have been no previous official visits by members of the British royal family to Palestinian Authority-assigned areas.
Prince William will also be the first close relation of Queen Elizabeth II to make an official visit to Israel, following trips made previously by the monarch's cousins the Duke of Kent and the Duke of Gloucester.
Other foreign trips made by royals, such as attendance at funerals or weddings, were not made at the request of Britain's Foreign Office and were therefore not classed as official visits.
One of those trips was a visit by Prince Charles to his grandmother’s grave on the Mount of Olives in Jerusalem last year.
Prince Charles, who is Prince William’s father, planned a state visit to Israel last year, but later cancelled.
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