Prince Philip left hospital on the eve of his 91st birthday on Saturday, five days after he was taken ill during celebrations to mark the Queen's Diamond Jubilee.
Looking relaxed and in good spirits, the Duke of Edinburgh smiled and shook hands with staff outside the central London hospital where he has been treated for a bladder infection.
He was taken to King Edward VII Hospital on 4 June, after spending hours on a ceremonial barge part of a flotilla of 1000 vessels on the River Thames to mark the Queen's 60-year reign.
His illness forced him to miss the later stages of the Diamond Jubilee celebrations and meant the Queen had to attend several events on her own, including a concert outside Buckingham Palace on Monday evening.
Royal aides said Prince Philip was treated with antibiotics and made good progress during the week.
Buckingham Palace said the Duke of Edinburgh would celebrate hs birthday with his family on Sunday.