The Princess Royal has returned home from hospital, where she was being treated for a minor head injury and concussion.

Princess Anne, 73, was taken to hospital on Sunday after she was thought to have been injured by a horse at her Gloucestershire estate.

She is not expected to return to public duties until doctors say it is safe to do so. It is not known when that will be.

Her husband Vice Admiral Sir Tim Laurence thanked hospital staff for their kindness in a short statement.

Princess Anne left Southmead Hospital earlier on Friday morning without being seen publicly.

She has returned to her country home at Gatcombe Park near Minchinhampton.

The princess, King Charles III’s sister, was injured on Sunday evening when she was out walking on her estate with horses nearby.

But because of her concussion, the exact cause of the head wound remains unknown.

According to the NHS, concussion can be the result of a “temporary injury to the brain caused by a bump, blow or jolt”.

The incident is the latest health problem to face a member of the Royal Family. King Charles and the Princess of Wales both have had a cancer diagnosis this year, limiting their public engagements.

Princess Anne, known as one of the most hard-working royals, has carried out numerous public engagements in their absence.

She had been due to take part in this week’s state visit by Emperor Naruhito and Empress Masako of Japan. Other engagements were also scheduled in Scotland, Hampshire and Gloucestershire.

Her husband and daughter Zara Tindall visited her bedside separately during her stay in 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,” Sir Tim said after her return home.