Princess Anne has returned home after five nights in hospital with minor head injuries and concussion.

She departed privately without being seen and headed back to her Gatcombe Park home.

The 73-year-old was struck by a horse while walking at the Gloucestershire estate on Sunday.

Her husband, Vice Admiral Sir Tim Laurence, visited her at Southmead Hospital in Bristol on Wednesday and told reporters she was “recovering slowly”.

He previously said they were both “profoundly grateful” to hospital staff and emergency services.

“We are both deeply touched by all the kind messages we have received from so many people near and far. It means a great deal,” he said.

On Tuesday he was seen taking a navy bag into the hospital which contained “just a few little treats from home”.

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Anne’s daughter, Zara Tindall, visited her separately the same day.

It’s understood the princess will now rest at home and only return to public duties when doctors advise it’s safe to do so.

Her medical team said the injuries appeared to have been caused by a horse’s legs or head, but precise details are not yet known.

An air ambulance was scrambled on Sunday evening, but she ended up travelling to hospital by road after being treated at the scene.

Prime Minister Rishi Sunak wished Anne a “swift recovery” earlier this week and said everyone is “immensely fond” of her.

Labour leader Keir Starmer also wished her a “speedy recovery”.

A skilled horsewoman, Princess Anne was the first royal to compete at the Olympics, in 1976.

Known as the King’s right-hand woman, she is seen by many as the hardest-working royal and has a reputation for her no-nonsense approach.

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