Prince Philip left hospital on Monday 10 days after he underwent exploratory abdominal surgery.
He smiled and waved as he left the London Clinic. He had been expected to remain in hospital for up to two weeks following the operation, and he plans to spend two months recuperating.
He had been expected to remain in hospital for up to two weeks following the operation and plans to spend two months off duty recuperating.
Buckingham Palace said the prince, 92, was in "good spirits" on Monday. Officials insist he is otherwise in robust health.
The Duke of Edinburgh joked with nurses as he left and shook hands with senior hospital staff on the doorstep.
He then walked briskly to his waiting vehicle, getting into the passenger side unaided.
He lowered the window to wave and smile at people waiting outside the hospital.
Prince Philip was hospitalised for a bladder infection during the Queen's Diamond Jubilee celebrations last year, and spent Christmas 2011 in hospital where he underwent an operation to clear a blocked heart artery after suffering chest pains.
The BBC reports received more than 1000 cards from well-wishers while at the hospital.
Family members visited him throughout his stay, including the Queen, his sons Charles and Edward, and grandsons William and Harry.