Princess Anne discharged after five days in hospital as royal's return to duties dependent on medical advice

The royal was rushed to hospital on Sunday evening and had suffered a concussion as a result of the incident.

Anne's husband, Vice Admiral Sir Tim Laurence, said in a statement regarding her release from hospital: "I would like to extend my warmest thanks to all the team at Southmead Hospital for their care, expertise and kindness during my wife’s short stay."

Sir Tim Laurence was pictured visiting his wife in hospital on both Tuesday and Wednesday this week.

Anne's daughter Zara Tindall was also snapped leaving the hospital after spending more than an hour with the Princess Royal on Tuesday.

The princess is will continue to recuperate at her Gatcombe Park estate.

She will return to public duties on medical advice but will not undertake her planned trip to Canada.

Anne was scheduled to join King Charles at the State Banquet for the Emperor and Empress of Japan earlier this week.

However, it was confirmed on Monday that the royal would not be undertaking engagements this week.

In a statement released on Monday, Buckingham Palace said: "The Princess Royal has sustained minor injuries and concussion following an incident on the Gatcombe Park estate yesterday evening.

"Her Royal Highness remains in Southmead Hospital, Bristol, as a precautionary measure for observation and is expected to make a full and swift recovery."

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Earlier this week an eyewitness gave their account of the events that unfolded on Sunday evening as Princess Anne was taken to hospital.

The Gloucestershire resident said: "I saw an air ambulance landing on her estate and I thought: 'Oh my goodness, I hope it's not Anne.'

"And then the police helicopter started circling about ten minutes later - and I thought the worst.

"I thought something awful must have happened and I was worried a criminal might be on the loose, but the police helicopter was off pretty quickly.

"The air ambulance was on the ground for about 40 minutes, I think; I'm not sure if it took her to hospital, but it didn't look like it did as it flew off the other way.