The Duke of Edinburgh thanked hospital staff who cared for him over the Christmas period as he was discharged today.
The 90-year-old royal was sitting in the front passenger seat of a dark Range Rover as he began the hour-long journey to Sandringham at 9.25am.
The Duke smiled and waved as he left Papworth Hospital in Cambridgeshire. Two other Range Rovers carrying royal protection officers followed him.
A Buckingham Palace spokesman said: "On departure, Prince Philip thanked the staff at Papworth for the excellent care he has received during his stay.
"He is very much looking forward to rejoining his family."
Scores of police officers began combing the hospital's grounds in the early hours of this morning in preparation for the Duke's departure.
It is not yet clear how active the Duke will when he arrives at Sandringham in Norfolk, or whether he will attend Sunday's service at St Mary Magdalene church on the estate.
He missed the Christmas Day service at the church, which was attended by the Duchess of Cambridge for the first time.
The Duke was taken to Papworth near Cambridge on Friday night after he complained of chest pains.
Following tests, doctors discovered a blocked artery and he underwent a "minimally invasive procedure of coronary stenting", which was declared a success.
It was the most serious health scare suffered by the Duke, who is known for being robust and active.
He had hoped to be discharged from hospital in time for yesterday's Boxing Day shoot at Sandringham, which he normally leads, but remained under observation in hospital.
Despite the setback, he was said to be in good spirits.
He has shunned the pursuits of typical pensioners and even as an octogenarian continued to compete in demanding carriage driving competitions.
Philip's most recent illness was an uncharacteristic cold in October that forced him to pull out of an overnight stay in Italy for the launch of the ARC Green Pilgrimage Network.
At the time. he had just completed a busy 11-day official royal tour to Australia with the Queen, 85, that saw them visit Perth, Melbourne, Canberra and Brisbane.
His next formal engagement is a dinner at the Scott Polar Research Institute at the University of Cambridge on January 17.
The Duke was visited in hospital by his grandchildren the Duke of Cambridge and Prince Harry on Christmas Day.
The brothers drove separate cars to Papworth after enjoying lunch at Sandringham, the Queen's private Norfolk estate, taking the Duke of York's daughters Beatrice and Eugenie and the Princess Royal's children Zara and Peter with them for a 45-minute visit.
Their visit would have been a welcome distraction for the Duke who is thought to have missed his first Christmas morning service at Sandringham, an annual tradition for the Royal Family, since the early 1990s.