THE Duke of Edinburgh has left hospital after 11 days following his successful hip operation.

Philip, 96, left the private King Edward VII hospital at midday on Friday.

The duke waved from the passenger seat of a Land Rover Discovery as he was driven past the front entrance of the hospital, having left through another exit.

Buckingham Palace said he will continue his recovery at Windsor, adding: “His Royal Highness would like to convey his appreciation for the messages of good wishes he has received.”

On Thursday he was visited by his daughter, the Princess Royal, who said he was “on good form”.

Anne, whose visit lasted around 50 minutes, is believed to be the first and only Royal to visit Philip in the central London hospital.

The Queen also gave an update, telling a well-wisher in Windsor “he said he’s getting on very well” when asked about Philip’s recovery.

The duke will have already begun his rehabilitation moving with the aid of a stick or crutches, and will face weeks of more aftercare as he learns to walk again on his new hip.

The Queen Mother underwent two successful hip replacement operations in the 1990s.