Cymbeline knights Belarius and the two young men in gratitude for their valor, and sends in search of the poor soldier who aided in his rescue. The doctor enters to tell the king that his queen has died, confessing her hatred of Cymbeline and her plans to kill Imogen. Caius Lucius is brought in and told that he and his army will be killed; he begs the life of Fidele, which Cymbeline grants, along with whatever gift the boy might ask. Instead of asking for Caius Lucius’s life, Fidele asks to interrogate Iachimo as to where he got the diamond ring he is wearing.
As Iachimo tells the story of how he had slandered Imogen, Posthumus comes forward, reveals who he is, and in his grief calls Imogen’s name. She runs to him, but he pushes her away and she falls. Pisanio tells Posthumus that the boy is Imogen. As Posthumus and Imogen embrace and Imogen is reunited with her father, Pisanio explains to Cymbeline about Cloten’s journey to Milford Haven. Guiderius finishes the story by telling how he killed Cloten and cut off his head. Cymbeline has Guiderius arrested.
Belarius, to save Guiderius’s life, confesses to Cymbeline that the young men are the two lost princes. Cymbeline welcomes his new family, Imogen is reintroduced to her brothers, and Cymbeline not only pardons Caius Lucius but also grants a pardon to all and promises to pay Rome the tribute he had earlier refused.