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The Princess Royal, 73, was injured while walking near horses at the royal estate in Gloucestershire, western England, on Sunday evening.
Anne will continue to rest and recover at home, returning to public engagements when her medical team recommends it is safe and comfortable to do so, the source told CNN.
Her husband, Vice Admiral Tim Lawrence, thanked the medical staff for their care.
He said in a statement: “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.”
The exact circumstances that led to the princess royal’s injuries are not clear, but there were horses nearby and her medical team previously said her head injuries were consistent with a potential blow from the head or legs of a horse.
Emergency services were sent to the estate and following medical treatment at the scene she was transferred to Southmead Hospital in Bristol for appropriate tests, treatment and observation.
CNN understands the princess was unable to recall the details of what happened Sunday night due to her concussion.
Although it is not known how long the princess will recover, she will receive rehabilitation support at home as she follows standard concussion protocols.
Anne is widely regarded as one of the hardest working royals, dutifully undertaking hundreds of engagements each year. She is one of several senior royals who stepped up to support the king when he briefly stepped back from public duties following his cancer diagnosis.
The five-day hospital stay has caused the princess to miss several engagements this week, including a state banquet at Buckingham Palace hosted for the Emperor and Empress of Japan on the first day of their state visit to the UK. She was also due to travel to Canada for a royal visit this weekend.
Her accident is the latest in a series of health challenges the family has faced since the new year, with her brother Charles and the Princess of Wales continuing their cancer treatment. Sarah Ferguson, the Duchess of York, was also diagnosed with malignant melanoma in January.
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