The Good Morning Britain presenter, 54, had been debating whether it has been right that the public pay for their security after the couple stepped down as royals when he made the comments.
Joined by former royal protection officer Ken Wharfe and journalist Ateh Jewel, Piers and co-star Susanna Reid discussed Meghan and Harry's security bill.
Piers conceded that their security should potentially be paid for when they were working with charities and NGOs, he believed that if they were making commercial gains from events they should pay money back.
However Piers also brought up the point about Meghan and Harry leaving their son Archie in Canada to travel.
He said: "Susanna and Charlotte, on this issue of if Archie doesn't come on this trip - and we don't know for sure, maybe he will come - if he doesn't come... isn't it a bit odd?
"I mean, I've had four kids and the rule was always both parents wouldn't be out of the country at the same time when my kids were that young. I'm very surprised."
Susanna agreed, saying: "For my 40th we were supposed to go away without the children and I literally, physically couldn't get on the plane with my children's dad, who I was together with at the time, because I couldn't bear the thought that something might happen to us and we'd left the children at home."
Piers added: "I've always had a rule with all my kids that you can't be in a different country, both parents, away from a young child - I don't think. I'm surprised!"
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