The 90-year-old duke of Edinburgh sat upright and smiled as he left the hospital where he was admitted Friday after experiencing chest pains, the BBC reported.
"On departure, Prince Philip thanked the staff at Papworth [Hospital] for the excellent care he has received during his stay," Buckingham Palace said in a statement. "He is very much looking forward to rejoining his family."
Prince Philip missed the royal Christmas celebrations as well as the traditional Boxing Day shoot.
The prince reportedly was advised by doctors to rest, the BBC said.
His next formal engagement is Jan. 17, when he is expected to attend a dinner at the Scott Polar Research Institute at the University of Cambridge.