Rupert returned to England with King Charles II during the Restoration. He was welcomed back as a hero and granted positions of influence.

Rupert was appointed to the Privy Council, made a Knight of the Garter, and granted various estates and titles, reflecting his restored status and influence.

Rupert served as a joint commander in the Second Anglo-Dutch War, participating in major naval battles. His leadership and tactical acumen were crucial to English successes.

Rupert played a key role in the Four Days' Battle, a hard-fought and tactically complex naval engagement against the Dutch fleet.

The humiliating Dutch raid on the Medway, where Dutch ships penetrated English defenses and burned English warships, tarnished the English navy's reputation and led to renewed calls for naval reform.

Rupert commanded the English fleet in the Third Anglo-Dutch War, facing the formidable Dutch admiral Michiel de Ruyter. The war was less decisive than the previous conflict.

Rupert commanded the English fleet at the Battle of Texel, a major but ultimately inconclusive naval engagement. He narrowly escaped death when his flagship was heavily damaged.

After his naval commands, Rupert focused on military administration and reform. He helped improve the organization and training of the English army.