She was taken to King Edward VII Hospital in London last night - her first time for a decade - but insisted that there must be ‘no fuss’.
Despite suffering from debilitating sickness, the 86-year-old refused to allow an ambulance to collect her.
Smiling as she walked unaided out of the hospital's main doors at around 2.45pm today, she stopped to thank nurses for their care before getting into a waiting car.
This morning she received a visit from her personal physician, Professor John Cunningham, who arrived by scooter.
Prof Cunningham has been Head of the Medical Household to HM the Queen since 2005 and also occupies the position of Physician to the Queen.
It would be entirely routine for him to assess the Queen in this way, in addition to the care she is receiving from the private hospital’s own staff.
His visit appears to have led to her being allowed to return home.
After his check-up, activity around the hospital increased ahead of the Queen's expected discharge, with a large Bentley driving into the building's internal courtyard and the police presence increasing, including police outriders.
Despite being allowed home the Queen's diary for this week would remain suspended, the Palace has confirmed.
'Engagements cancelled or postponed this week remain so. Next week we'll have to see, as she has only just been released from hospital,' a spokesman said.