The Duke of Edinburgh has left hospital following treatment for a bladder infection.

Prince Philip, 91, was admitted to Aberdeen Royal Infirmary on Wednesday, during his and the Queen's annual summer break at the Balmoral Estate on Deeside.

He left the facility in a green Range Rover on Monday, shaking hands with members of staff at the door before being driven away.

Chief executive Richard Carey, medical director Dr Roelf Dijkhuizen, Vincent Shields, the hospital's general manager, and senior staff nurse Denise Webster were amongst the group.

Ms Webster said afterwards: "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."

It is expected he will return to Balmoral where the Queen is still staying.

On Sunday, he missed a church service attended by the Royal family, as he continued to receive treatment.

The Queen and the Prince of Wales were among those attending the service at Crathie Kirk, near Balmoral.

He has not received any visits from his relatives after being advised by doctors to rest, but it is understood he has been in regular contact by phone.

When the Duke was admitted to hospital officials said that he would be in the infirmary for a few days.

His latest health scare comes less than three months after he spent five nights in hospital with a bladder infection following the Diamond Jubilee Pageant on the River Thames.

He had to miss some of the key celebrations for the Queen's 60-year reign after he was admitted to the King Edward VII Hospital in London the day after braving wet and windy elements on a barge for several hours.

Philip also had a successful procedure to clear a blocked coronary artery in December and was in hospital for four nights over Christmas.

The Prince has recently been at several public engagements including a garden party at Balmoral, the Olympics and, most recently, Cowes Week on the Isle of Wight.

It is not yet known whether he will attend his next official engagement - accompanying the Queen to the opening of the London 2012 Paralympic Games on August 29.