Prince Philip left King Edward VII Hospital at midday on Friday, 13 April 2018, following successful hip replacement surgery last week.
Buckingham Palace released a statement saying the Duke of Edinburgh will continue his recovery at Windsor.
‘His Royal Highness would like to convey his appreciation for the messages of good wishes he has received.’
Prince Philip left King Edward VII Hospital from a side entrance but he waved at well-wishers and the media as he drove past.
Phil Dampier, author of Prince Philip: A Lifetime of Wit and Wisdom, posted a comment on Twitter, after hearing the Duke has left the hospital.
Great news that Prince Philip has left hospital following his hip replacement. Hip hip hooray!
— phil dampier (@phildampier) April 13, 2018
The Princess Royal had visited her father on Thursday, 12 April, after spending nearly an hour with the Duke.
She said her father was ‘on good form’.
Prince Philip was admitted to hospital on Tuesday, 3 April, after he failed to show at the Easter Service at Windsor, and had hip surgery the following day.
The Duke had also missed the Royal Maundy Service at St George on Thursday, 29 March, and a Parade to mark Prince Andrew’s Appointment as Colonel of the Grenadier Guards on Thursday, 22 March.
Prince Philip had announced his retirement in May 2017, after supporting Queen Elizabeth II for decades and carrying out official engagements for his own charities and organisation.
He carried out his last official engagement on 2 August 2018, when he reviewed a parade of Royal Marines outside Buckingham Palace.