The 90-year-old husband of Queen Elizabeth II had been hospitalized since Friday when he complained of chest pains. Doctors inserted a stent to clear the blocked artery.
Upon his release from the hospital, Buckingham Palace would only say the prince was looking forward to being back with his family.
It is not yet clear if his health will impact a busy year ahead, as the queen celebrates her diamond jubilee, marking her 60th year on the throne.
It was the most serious health scare suffered by Philip, who is known to be active and robust. Sources close to the royals say the Duke of Edinburgh is in pretty good health considering his age.
The prince has had chest pains before and was taken to the hospital for a chest infection in April 2008. He came down with a cold in October and had to cancel an overnight visit to Italy in order to recover.
The colorful and outspoken husband of Queen Elizabeth has been a familiar figure at his wife's side for decades. He has championed numerous charities over the years.