Philip also missed the Easter Sunday service at St George's Chapel, where his grandson Prince Harry is due to marry Meghan Markle next month. He was absent from the Easter Mattins Service at St George's Chapel where Meghan Markle and Prince Harry will Wednesday in May.
The health scare comes at a busy time for the royal family. He was spotted driving on the Windsor Castle grounds as recently as last week, according to the U.K.'s Press Association.
Prince Philip, who turns 97-years-old in a few weeks, has been forced to cancel a series of engagement due to his hip problem. Prince Andrew inherited the role directly from his father, who had been Colonel of the Granadier Guards since 1975.
Philip, whose title is the Duke of Edinburgh, retired from public life last August although he said he would still attend some events.
The Duke of Edinburgh has been long suffering from issues with his hip. "I can barely stand up these days".
Queen Elizabeth paid tribute to her husband in November 1997 during their Golden Wedding Celebrations.
In 2013, the royal household said Philip had once again been admitted to the hospital for exploratory surgery after his doctors revealed that it was necessary following "abdominal investigations". This came after the palace originally said that the 96-year-old would "wind down" his workload gradually, though he was keen to carry out his duties.
In December 2011, the prince suffered chest pains and had minor surgery to open a blocked artery. In April 2008, he was hospitalized for a chest infection, but recovered quickly.
It is the hope that Prince Philip will still be able to attend the royal wedding on May 19.