Princess Anne is back home at Gatcombe Park after being discharged from hospital earlier this morning.
She is expected to remain at home for a further period of rest and recuperation and will return to public duties when her medical team give her the green light.
Her husband Vice Admiral Sir Timothy Laurence said: "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."
The Princess Royal, 73, had spent five nights in an NHS hospital where she was treated for concussion after being injured by a horse on Sunday night.
She was taking an evening stroll on her Gatcombe Park estate when she suffered minor head injuries, which her medical team believe were caused from the impact with either a horse's leg or head.
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Due to the concussion, the details of the accident cannot be confirmed, leaving aides to form a "working hypothesis".
Anne, a skilled horsewoman who rode in the 1976 Montreal Olympics, was under the care of the medics "as a precautionary measure for observation", consistent with head injuries.
Sir Tim visited his wife on several occasions this week, bringing her a cool box full of "treats from home" and giving occasional updates to the press.
He said Anne is "recovering slowly" as he left Southmead Hospital on Wednesday afternoon and he gave a more detailed comment to a well-wisher the day before.
"She is recovering well, thank you," he said. "We are both profoundly grateful to the medical team and hospital support staff for their expert care - and to the emergency services who were all so wonderful at the scene.
"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."
The Princess, who regularly takes the title of hardest-working royal for carrying out the highest number of engagements each year, has apologised for having to cancel her immediate events.
She had been due to attend a state banquet at Buckingham Palace to mark the start of the Japanese state visit on Tuesday - one of nine engagements planned over this week. On Sunday she was scheduled to be in Canada for an official visit, but this has now been cancelled.
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