The 98-year-old Duke of Edinburgh flew back to Sandringham by helicopter after being driven away from the King Edward VII's Hospital in London following treatment for a pre-existing condition.
He had been flown by helicopter from Sandringham to London for “observation and treatment” on Friday.
Buckingham Palace confirmed Philip had now returned to the Queen's private estate in Norfolk.
A palace spokesman said: "The Duke of Edinburgh has today left hospital after being discharged by his Doctor and is now back at Sandringham.
"His Royal Highness would like to thank everyone who sent their good wishes."
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