Updated: Prince Philip leaves hospital to rejoin royal family at Sandringham

Prince Philip has left hospital this morning (December 27) after missing the royal family's Christmas celebrations.

The Duke of Edinburgh rejoined the Queen at Sandringham after spending four nights at Papworth hospital near Cambridge, reports Sky News.

As he left the hospital, Prince Philip was pictured smiling from the front seat of his car.

A statement from Buckingham palace 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."

The 90-year-old was taken to the NHS hospital on December 23 after complaining of chest pains. He underwent successful surgery to relieve a blockage in his coronary artery later the same day.

The Duke missed the Christmas Day morning church service at Sandringham as well as the annual Boxing Day shoot.

Prince Philip was visited by six of his grandchildren, including Princes William and Harry, on Christmas Day. Other members of the royal family, including the Queen and her four children, visited him on Christmas Eve.