The miniature fruit was grown in the garden’s restored Pineapple Pit in the Melon Yard, using the natural warmth of 30 tones of manure to heat the complex Victorian structure.
The derelict Pineapple Pit was restored by a team of experts after the Heligan gardeners discovered it 20 years ago.
The first pineapple grown using the forgotten technique was tasted by the Heligan gardeners before sending the second to the Queen.
Marketing manager Lorna Tremayne said: ""Heligan pineapples are like no pineapple you've ever tasted.
"It's deliciously sweet, not stringy, and the flavour explodes in your mouth. One taste and shop bought pineapples will not be good enough ever again."
The Heligan team calculated the cost of labour and resources required to grow the fruit – excluding the pit itself – would be equivalent to £10,000 in today’s money.
The manure had to be mixed with specially bought in straw from Falmouth to achieve the necessary heat and humidity to grow the pineapple.
"The Pineapple Pit is a perfect example of how Heligan blends restoration, heritage horticultural techniques and a passion for gardening to produce exciting results," said MD, Peter Stafford, who adds "However I think it’s unlikely we’ll be supplying Tesco in the near future."