After rights groups called for her whereabouts and condition to be disclosed, the UAE said on Monday that the princess, who is the daughter of Dubai's ruler Sheikh Mohammed bin Rashid al-Maktoum, was at home and living with her family.
"At the request of the family, on 15th December 2018, Mary Robinson, former United Nations High Commissioner for Human Rights and former President of Ireland, met with Her Highness Sheikha Latifa in Dubai," the UAE foreign ministry said.
"Photographs taken during the afternoon they spent together have been shared, with their consent. During her visit to Dubai, Mary Robinson was reassured that H.H. Sheikha Latifa is receiving the necessary care and support she requires."
It said: "The communique responds to and rebuts false allegations and provided evidence that Her Highness Sheikha Latifa was at home and living with her family in Dubai."
The ministry said the UAE Mission in Geneva shared the statement with the Office of Special Procedures at the United Nations High Commissioner for Human Rights.
Reports had said she escaped with the help of friends on a yacht owned by a Frenchman which was later intercepted off the coast of India.