In the wake of the Bondi Beach shootings and the Manchester synagogue attack, Charles also praised the "spontaneous bravery" of those who put themselves in "harm's way to defend others".
The annual Christmas broadcast is written by the King and is the rare occasion when he does not turn to the British government for advice.
He put communities at the heart of his message, commenting on the benefits of their "diversity" and how they displayed courage in adversity.
Charles has long seen his role as helping to build bridges between these communities, faith groups and others, believing he is a part of society, not apart from it.
The King and Queen attended major commemorations this year to mark the 80th anniversary of VE Day and VJ Day, and Charles said in the broadcast: "The end of the Second World War is now remembered by fewer and fewer of us, as the years pass".
"But the courage and sacrifice of our servicemen and women, and the way communities came together in the face of such great challenge, carry a timeless message for us all," he said.
"These are the values which have shaped our country and the Commonwealth. As we hear of division, both at home and abroad, they are the values of which we must never lose sight."
The broadcast showed Charles at Heaton Park Hebrew Congregation Synagogue in Manchester, where he visited survivors of the October terror attack and met those who blocked the doors as a knife-wielding assailant tried to get in.
An arch in Sydney, Australia, with the words Bondi Beach was seen in footage followed by hundreds of floral tributes left after two gunmen targeted a Jewish festival, killing 15 people.
The widely acclaimed hero of the massacre, Syrian-born immigrant Ahmed Al Ahmed, was shot after wrestling a firearm from one of the gunmen.
The King's address, recorded on December 11 in Westminster Abbey's Lady Chapel, made no reference to Charles's recent "good news" announcement about reducing his cancer treatment, reflecting his wish for his message to mirror society's experiences during the past 12 months.
There was a strong religious element in the address to the nation and Commonwealth from the King, a committed Anglican Christian, whose key theme was pilgrimage, and he emphasised the Biblical journeys made by Mary and Joseph, arriving "homeless" in Bethlehem, and the three wise men and shepherds to pay homage to the baby Jesus.
The figures in the Christmas story relied on "companionship and kindness of others" during their pilgrimages and found "inner strength" to deal with physical and mental challenges.
Charles added: "To this day, in times of uncertainty, these ways of living are treasured by all the great faiths and provide us with deep wells of hope: of resilience in the face of adversity; peace through forgiveness; simply getting to know our neighbours and, by showing respect to one another, creating new friendships."
Members of the royal family were featured during the broadcast, from Camilla in a red phone box with a group of children during a visit to Dulwich Picture Gallery and William and the Duchess of Edinburgh clinking paper cups of gin at the Royal Cornwall Show.
The Christmas message of "peace and reconciliation" delivered by angels when they proclaimed the arrival of Jesus - "the greatest pilgrimage of all" - was a "prayer for our times and our communities", said the King in conclusion.
Charles's continued support for Ukraine since the early period of Russia's invasion was reflected in the choice of choir, Songs for Ukraine Chorus, who closed the broadcast by singing the hugely popular Carol Of The Bells, based on a song by Ukrainian composer Mykola Leontovych.
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