Harry had a brief meeting with his father at Clarence House, their first face-to-face encounter in 16 months, after flying thousands of miles to be by his side after his cancer diagnosis.
Harry only saw his father for half an hour before heading to Sandringham for rest, according to reports.
Interestingly, Harry did not meet with his brother William, following years of public criticism from Harry on platforms like Oprah, Netflix, and in his autobiography Spare.
The fact Harry didn't meet with his older brother is indicative of the tension between the royals, according to Jobson.
Robert said: "It's a clear message there: 'You're certainly not forgiven and you've certainly done a lot of damage'. The fact that his brother didn't even bother to acknowledge him - They were very close and he didn't even bat an eyelid. There was no way that that was going to happen."
Robert also suggested that the rift between Harry and Queen Camilla could be why Harry's meeting with Charles was so brief. He explained: "The Queen was with the King."
"Let's be honest - he wasn't too complimentary about Queen Camilla in his book Spare. He wasn't very complimentary about her on Netflix. They don't get on," he added.
Pippa Middleton in line for future title - but it's not down to Princess Kate [INSIGHT]
Critics who claim William and Kate don't do enough warned 'give them a break' [COMMENT]
Meghan Markle 'won't make first move' to help Prince Harry heal royal rift [ANALYSIS]
Jobson went on: "Second, there's not been a lot of contact. That brings its own level of complexity and drama which he doesn't need at the moment.
"The royals do stick to a pretty military clock. You have to get the helicopter pilot there, all these things. So his plans had to be changed. The one thing the King doesn't like is changing his plans."
He added: "He gave him long enough for a kiss and hug, and wished him all the best."
The Duke was only in the UK for 26 hours before returning to the US, amid rumours he was "not invited" to royal residence Clarence House to see the King.