The Duke of Edinburgh waved as he left hospital
The Duke of Edinburgh has been discharged from hospital and is recuperating at Windsor Castle after being treated for a chest infection.
Prince Philip, 86, spent three nights in London's King Edward VII's Hospital, where doctors monitored his condition.
The Duke of Edinburgh had been admitted on Thursday after developing a heavy cold which caused him to cancel a number of engagements.
Royal officials had stressed his stay was a precaution, not an emergency.
Meanwhile, the Duke's engagements for Monday have been cancelled, with future diary dates to be decided on a day-to-day basis.
The Duke cancelled engagements last week including attending a memorial service for Everest hero Sir Edmund Hillary.
He was also unable to attend a dinner for Macmillan Cancer Support in Windsor on Friday.
His last official public role was during French President Nicolas Sarkozy's state visit to Britain on 26 March.