The Duke of Edinburgh has left hospital after five days of treatment for a bladder infection.
He was discharged from London's King Edward VII Hospital on Saturday, in time to celebrate his 91st birthday on Sunday.
Prince Philip was taken to hospital on Monday, in the midst of the queen's diamond jubilee celebrations and less than six months after he needed treatment for a blocked coronary artery.
A Buckingham Palace spokesman said Prince Philip would be spending his birthday "privately".
On Friday Prince Philip enjoyed hospital visits from his grandsons, princes William and Harry. He was also visited by the Queen, the Duke of York, the Earl and Countess of Wessex and their children, Louise and James.
Prince Andrew said on Wednesday his father was "mending very well".
Prince Philip's next scheduled engagement is on Tuesday, when the Queen hosts a garden party at the Sandringham Estate in Norfolk to mark her Diamond Jubilee.
Prince Philip's admission to hospital meant he missed some jubilee events.
He spent last Sunday braving the elements for the Thames River Pageant, which doctors suggested might have exacerbated his condition.
The palace said earlier this week that he was being treated with antibiotics and was in good spirits.
Photo: Prince Philip and the Queen (Getty Images)