They added: “The Prince and Princess wish to say a huge thank you to the entire team at The London Clinic, especially the dedicated nursing staff, for the care they have provided.
“The Wales family continues to be grateful for the well wishes they have received from around the world.”
The exact details of the 42-year-old’s condition have not been revealed, but the palace previously said it was not cancer-related.
Kate is not expected to return to official duties until after Easter, and the Prince of Wales has temporarily stepped back from his royal role to juggle caring for her and their three children.
The 75-year-old monarch will be available for state matters while in hospital and can attend to red boxes with government papers when he is discharged, but will not carry out duties for up to a month.
‘Welcome news’
On Monday, the prime minister welcomed the news that Kate has left hospital.
“That would be welcome news both to the royal family and I’m sure to the public more widely,” Rishi Sunak told reporters at a briefing in Westminster.
NHS advice about recovering from abdominal surgery says that after a major operation with a large incision, it takes two to three months to be able to move around comfortably.
But this will be quicker if the procedure was keyhole surgery.
Patients are typically advised to avoid lifting anything heavier than the weight of a full kettle (2-3kg) while sitting and standing exercises are recommended to build strength.