Britain’s Princess Anne will spend a period of convalescence following her discharge from hospital where she was treated for concussion after being struck by a horse.

King Charles’s sister (73) spent five nights in hospital in Bristol after being hurt while walking on her estate in Gloucestershire, England, on Sunday evening.

Anne departed privately on Friday morning without being seen and has returned to her country home.

The princess’s husband, Tim Laurence, praised the doctors and nurses who looked after 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.”

She will remain at her home for a period of rest and recuperation and will return to public duty when her medical team recommends it is safe and comfortable to do so, it is understood.

It is not known how long the princess will spend convalescing, but she will be receiving rehabilitation support at home as she follows standard concussion protocols.

Anne’s medical team said her head injuries were consistent with a potential impact from a horse’s head or legs but her concussion has meant precise details of how the incident came about are not clear.

An air ambulance was scrambled to take the princess to hospital, but in the end she travelled by road after being treated by an emergency crew on site.

While receiving treatment, she was visited by her daughter, Zara Tindall, separately on Tuesday, with Mr Lawrence also returning on Wednesday.

Mr Lawrence said during the week she was “doing fine, slow but sure” and that he had taken her a “few little treats from home”.