Vehicles already parked before that time were able to leave throughout Wednesday afternoon, the council said.
The car parks would remain closed, and some roads in the centre of Dedham will be closed, between 08:00 and 15:00, as follows:
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High Street, Royal Square and Brook Street, Dedham (from Stratford Road through to Manningtree Road and Crown Street)
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Mill Lane, from the High Street to Mill Lane Car Park
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Southfields Road
The royal couple will be meeting schoolchildren and the general public during their walk along the High Street.
