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Prince Philip has thanked well-wishers after being discharged from hospital following his hip operation.

The Duke of Edinburgh appeared in good spirits, waving to journalists waiting outside the King Edward VII Hospital in central London as he was driven away in a Land Rover Discovery.

He had been admitted to the private hospital on 3 April for the planned surgery, with the operation taking place the following day.

Buckingham Palace said in a statement: "His Royal Highness The Duke of Edinburgh left King Edward VII's Hospital at midday today, following a hip replacement operation last week.

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"The Duke will continue his recovery at Windsor.

"His Royal Highness would like to convey his appreciation for the messages of good wishes he has received."

His release after 11 days in hospital came a day after he was visited by his daughter Princess Anne, who said he was "on good form".

It is understood the 96-year-old had been having trouble with his hip for about a month before the operation.

He did not accompany the Queen to church at Windsor Castle on Easter Sunday because of the problem, and it is understood it was also the reason he missed an annual Maundy service.

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Medical experts say hip replacement patients are usually back to their normal lifestyle, free from pain, after a few weeks.

However, the Duke will have to have rehabilitation care as he learns to walk again on his new hip.

Patients have to walk aided for the first four to six weeks after surgery, meaning he could be using a walking stick or crutches at Prince Harry and Meghan Markle's wedding on 19 May.

The wedding is likely to be his first public appearance after recovering from the surgery.

Philip stepped down from official public duties last summer, although does still attend some events with the Queen.