Senior staff nurse Denise Webster, who was among the officials at Aberdeen Royal Infirmary who waved the Duke of Edinburgh off today, said the 91-year-old was on good form as he left the hospital after six days:
The Duke was a very good patient, and as he left the hospital he told staff to behave themselves and he said he was going back to enjoy the rest of his holiday.
Prince Philip's release from hospital came after five nights away from Balmoral following the recurrence of a bladder infection that he first encountered during the Diamond Jubilee.
The Duke was taken ill during his traditional annual summer break with the Queen at the royal family's Scottish estate.
During his time at the NHS hospital, he was not visited by Her Majesty or other family members after being advised by doctors to rest, but remained in regular contact with relatives by telephone.
The Duke of Edinburgh looked in good health as he left Aberdeen Royal Infirmary after six days in hospital receiving treatment for a bladder infection.
Prince Philip smiled as he shook the hands of staff members at the hospital and waved as he was driven away in a chauffeured Range Rover.
The Queen and members of the royal family have attended a church service at Crathie Kirk near Balmoral Castle, during the annual Royal summer break at Balmoral.The Duke was unable to attend the service as he remains in hospital receiving treatment for a bladder infection.
The Prince of Wales and the Duchess of Cornwall, known as the Duke and Duchess of Rothesay when in Scotland, have arrived ahead of the Sunday service at Crathie Kirk near Balmoral Castle, during the annual Royal summer break at Balmoral.
The Duke of Edinburgh will be unable to attend the service as he remains in hospital receiving treatment for a bladder infection.
Lots of tourists gathering here to join the congregation at Crathie Kirk, near Balmoral with the Queen.
The Duke of Edinburgh will miss a church service attended by members of the royal family, as his stay in hospital enters its fifth day.
The Queen is among those expected to attend the service at Crathie Kirk, near Balmoral, later today.
But Philip, 91, continues to receive treatment for a flare-up of a bladder infection at Aberdeen Royal Infirmary.
The Duke has so far not received any visits from his relatives after doctors on Friday advised him to rest.
He was admitted to the NHS hospital on Wednesday, during his and the Queen's annual summer break at Balmoral.
Officials said at the time that he would be in the infirmary for a few days and it remains unclear when he will be discharged.
He is said to have been in regular contact with members of his family by telephone.