The mother and daughter headed to the Myrtle Beach Safari on Wednesday, August 18, and the 7-year-old shared footage from the trip on her Instagram account.
"Living the dream! #SaveTheTigersSaveTheWorld || @myrtlebeachsafari || @docantle || We love what you are doing @docantle thank you for these memories! 💞🐅," she captioned a video of her playing in the water with a white tiger cub.
She also posted a photo series with the caption "What a day!!! 🐒🙈🙊🙉🐾🙌🏼." In one photo, she held a monkey in her lap, before sharing a snap of her hugging an elephant's trunk and posing with an owl in another pic.
"Thank you for visiting ❤️," Myrtle Beach Safari commented on Royalty's video with the tiger.
"She really is Dr Dolittle!!! Love it Ro!!! Animals are the best!!!" one fan wrote.
"This is just beautiful," another commented.
Guzman also shared a series of posts on her Instagram account about the day out. "Fell in love with a Hyena!" she captioned a clip of the mother and daughter duo petting a hyena.
The 38-year-old also gushed about being star-struck meeting Bubbles the elephant and posed for a photo with Antle, who was born Bhagavan Antle.
In October, Antle was indicted on several wildlife trafficking charges. He was charged with one felony count of wildlife trafficking, one felony count of conspiracy to wildlife traffic, four misdemeanor counts of conspiracy to violate the Endangered Species Act and nine misdemeanor counts of animal cruelty. A state investigation alleged that Antle and Keith A. Wilson, the owner of Wilson’s Wild Animal Park in Winchester, Va., allegedly trafficked lion cubs between Virginia and South Carolina.
Meanwhile, in 2019 Royalty's famous father was ordered to surrender his pet capuchin monkey and pay for its care. He was also ordered not to attempt to buy a new one in order for charges of illegal animal ownership to be dropped after he was charged with two misdemeanors regarding his possession of the monkey without a permit.