“His Royal Highness The Duke of Edinburgh left King Edward VII’s Hospital at midday today, following a hip replacement operation last week," Buckingham Palace said in a statement. "The Duke will continue his recovery at Windsor.”
The statement continued, "His Royal Highness would like to convey his appreciation for the messages of good wishes he has received.”
Philip's daughter, Princess Anne, visited her father Thursday and said he was “on good form” after a 50-minute visit.
Queen Elizabeth, 91, speaking with well-wishers at an engagement in Windsor, said Philip was “getting on very well."
Philip had missed several events due to pain before electing to undergo the surgery.