The Princess Royal has left hospital where she was treated for minor head injuries and concussion after being struck by a horse.

The King’s sister, 73, spent five nights at Southmead Hospital in Bristol after being hurt while walking on her Gatcombe Park estate on Sunday evening.

Anne departed privately on Friday morning without being seen and has returned to her country home near Minchinhampton, 30 miles away.

The princess’s husband, Vice Admiral Sir Tim Laurence, said following the discharge of his wife: “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.”

Anne’s concussion has meant precise details of how the incident came about are not clear.

The princess’s medical team said her head injuries were consistent with a potential impact from a horse’s head or legs.