His Royal Highness Prince Philip, Duke of Edinburgh, left on Tuesday King Edward VII's Hospital, where he was being treated after heart surgery.
Queen Elizabeth II's husband was initially admitted to the institution as a "precautionary measure. He was then transferred to St Bartholomew's Hospital, where he underwent a "successful procedure for a pre-existing heart condition."
Prince Philip, who has been married to Her Majesty since 1947, is to turn 100 on June 10.