Looking relaxed and in good spirits, the Duke of Edinburgh smiled and shook hands with staff outside the London hospital where he has been treated for a bladder infection.

His illness overshadowed the later stages of the Diamond Jubilee celebrations and meant the queen had to attend several events on her own, including a concert outside Buckingham Palace on Monday evening.

"His royal highness left hospital today. He continues to improve and he will now continue his convalescence at home," a palace spokesman said.

Wearing a tweed jacket, white shirt and red tie, Philip waved at well-wishers and the media outside the King Edward VII Hospital before being driven away in a black Land Rover.

He nodded when asked if he was feeling better and looking forward to his birthday. He will celebrate with his family today, the palace said.

Royal aides said Philip was treated with antibiotics and made good progress during the week.