The injuries were sustained during an unfortunate incident involving a horse at her Gatcombe Park estate in Gloucestershire, according to the Daily Mail.
The 73-year-old royal had been in the hospital since Sunday evening and was discharged privately today, unseen by the public. She returned to her country home near Minchinhampton, which is approximately 30 miles away from the hospital.
Her husband, Vice Admiral Sir Tim Laurence, expressed his gratitude to the medical team at Southmead 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," he said.
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The Princess was also visited by her daughter, Zara Tindall. The exact details of the incident remain unclear due to the Princess's concussion, but her medical team has stated that her injuries are consistent with a potential impact from a horse's head or legs.
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Princess Anne will now remain at Gatcombe for further rest and recuperation. She will resume her public duties when her doctors deem it safe and comfortable for her to do so. The timeline for recovery from a concussion varies depending on the individual and the nature of the incident, and no specific date has been set for her return.
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In the interim, the Princess will receive rehabilitation support at home as she follows standard concussion protocols. It is understood that the incident occurred within the protected perimeter of Gatcombe Park, and no other individual is believed to have been involved.
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Sir Tim, Zara, and her son Peter Phillips were all on the estate at the time of the incident, but it is not known who raised the alarm. An air ambulance was initially dispatched to transport her to the hospital, but she ultimately travelled by road after being treated by emergency services on site.
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On Tuesday, Sir Tim reassured the public that his wife was "doing fine, slow but sure." He was seen carrying a cool bag, revealing that he had brought her "a few little treats from home."
The Princess's injury is the latest health concern to affect the Royal Family this year, following both the King and the Princess of Wales' cancer diagnoses and treatments, and Sarah, Duchess of York's skin cancer.
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The Princess has missed eight engagements in the UK this week, including the state banquet for the Japanese State Visit on Tuesday and an overseas tour to Canada, which was due to start this weekend. Her five further engagements scheduled for next week are now likely in doubt.
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Prime Minister Rishi Sunak and Labour leader Sir Keir Starmer took a break from election campaigning on Monday to send their best wishes to the Princess for a swift recovery.
In the initial statement from Buckingham Palace announcing her injury, a spokesman 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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Princess Anne is a key member of the King's slimmed-down working monarchy and has played a significant role in supporting Charles amid his condition. Known for her no-nonsense approach and commitment to royal duty, the Princess, often dubbed the 'hardest-working royal', accounted for a quarter of all royal engagements in the first six months of the year, according to a new analysis for MailOnline.
The Princess is a skilled horsewoman, having won the individual championship at Burghley in 1971 and being voted BBC Sports Personality of the Year. In 1976, she participated in the Montreal Olympics as a three-day eventer with the British equestrian team.
In 1974, the Princess survived an attempted kidnapping when a gunman tried to abduct her and then-husband Captain Mark Phillips as they were driven along The Mall to Buckingham Palace. When the gunman, Ian Ball, demanded £2million, she famously replied it was not "bloody likely, and I haven't got £2million."
