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Queen Elizabeth II's husband was last hospitalized in a London hospital in December 2019 for a pre-existing condition.
The prince had been feeling unwell for a short period and he walked into hospital unaided, a royal source said. He and the queen have four children, eight grandchildren and nine great-grandchildren.
On the advice of his doctor, the Duke of Edinburgh was taken to King Edward VII hospital in London.
The Queen remains at Windsor Castle in England, the source said.
"The Duke of Edinburgh has today left hospital after being discharged by his Doctor and is now back at Sandringham".
He was forced to give up driving at the age of 97, after smashing into a auto while driving a Land Rover near Sandringham estate in January 2019. A woman in the other vehicle suffered a broken wrist. The prince was unharmed, BBC News' royal correspondent Nicholas Witchell said at the time.
The latest hospitalisation renewed concerns about Philip's health ahead of his 100th birthday in June this year. Elizabeth became queen in 1952, following the death of her father, King George VI.