Gautier, 98, rose from his wheelchair to stand, leaning on two sticks, as Macron pinned the medal on his chest.
The president then kissed him on both cheeks and embraced him. Gautier was made a Grand Officer of the Legion of Honor.
Gautier, who had escaped to Britain when Germany invaded France, was one of 177 French marine commanders chosen to help spearhead the first wave of D-Day landings in Normandy, stepping ashore on June 6, 1944.
The last other remaining member of that unit, Hubert Faure, died in April this year, making Gautier the sole survivor.
Remembering the D-Day landings in a 2019 interview with Reuters, Gautier recalled how a British commander had let the French unit disembark from their landing craft first, in a symbolic recognition that they were reclaiming their homeland.
Gautier ran up the beach as bullets fizzed overhead, tasked with securing a German bunker that was directing fire at the beach.
His home today is just a few hundred yards from the location of that same German bunker.