Philip, also known as the Duke of Edinburgh, smiled and shook hands with medical staff as he walked steadily from the London Clinic, clutching a thick hardback book.
Buckingham Palace said Philip was "in good condition and good spirits".
The husband of Queen Elizabeth II, who turned 92 on 10 June, had an operation under general anesthetic on 7 June.
Philip has suffered heart and bladder problems in the past, but officials have not released details about his current condition.
The palace said the prince is expected to spend two months convalescing, initially at Windsor Castle near London.
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