The Queen changed into a lighter blue outfit as she visited her husband of 65 years at the London hospital, thanking the staff as she left.
Earlier in the day the Queen's official birthday was celebrated with a spectacular display of pomp and pageantry at Trooping the Colour. The monarch fittingly chose a dark, royal blue outfit as she stepped out in the London sunshine to mark her official birthday.
The Queen leaving the hospital where Prince Philip is recovering
As the Duke of Edinburgh was unfortunately unable to attend proceedings the Queen's cousin, The Duke of Kent, stepped in to fill his role and other members of the British royal family were out in force to support the Queen.
Pregnant Kate Middleton joined Prince Harry and Camilla, Duchess of Cornwall in the leading carriage. Kate, who made her last public appearance before the birth of her royal baby, chose a light pink coat with a large collar and a matching pink hat by couture milliner, Jane Corbett.
Prince Charles, Prince William and Princess Anne rode together as the occasion's royal colonels, following The Earl and Countess of Wessex's carriage and that carrying The Duke of York, Princess Beatrice and Princess Eugenie.
Given that Prince Philip could not be by his wife's side, the Duke of Kent accompanied the Queen in the Glass coach, from which the monarch was able to inspect the Household Cavalry.
More than 1,000 soldiers and horses took part in the parade and hordes of excited well-wishers lined the streets to cheer the Queen and the royal family.