The event was organised by Get Lit – Words Unite, a California based non-profit. Meghan and Harry joined in the conversation which focused on the structural impact of racism and the importance of listening.
Speaking to Huffington Post Diane Luby Lane, Get Lit founder, said the Sussexes’ team had contacted them over the event.
She described the royal appearance as “honesty the most shocking and thrilling moment of our lives”.
Ms Lane added: “Our poets’ mouths hit the floor.
“After they left, one of the poets started crying and said ‘I need someone to explain what just happened right now’.
“The Duke and Duchess knew the names of each of the poets and talked about their lives, which completely blew them away.
“They took music suggestions from the poets and said it would be their dinner playlist.
“They both listened so deeply to every word of the three poems they heard.”
Meghan and Harry are currently living in Santa Barbara, to the north of Los Angeles, having stepped down as senior members of the Royal Family last year.
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“Prince Harry and Meghan, The Duke and Duchess of Sussex, were magic and kind and interested in poetry!
“The Duchess even shared some of her favourite poetry lines.
“We are so grateful for their visit in honour of Black History Month. It goes down as most epic experience in Get Lit history!!!”
Meghan and Harry caused a global sensation in January 2020 by announcing their intention to step down as senior members of the Royal Family.
The couple moved to California, Meghan’s home state, shortly before it went into coronavirus lockdown.
They currently live in an £11.2million mansion complete with a swimming pool, tennis court and children’s cottage.
Last year the Sussexes announced a major deal with Netflix to produce films, documentaries and children’s shows for the streaming giant.
They have also started a podcast posted on audio platform Spotify.
After stepping down as working royals Meghan and Harry attracted controversy with a number of politically charged interventions.
Ahead of the 2020 US presidential election Meghan urged Americans to vote in “the most important election of our lifetime”.
Donald Trump interpreted the comment as a snub replying: “I’m not a fan of hers. And I would say this, and she probably has heard that, but I wish a lot of luck to Harry because he’s going to need it.”