Andrew Mountbatten-Windsor has been driven away from the police station where he was kept for 11 hours after his arrest.
The former prince was arrested on his 66th birthday on suspicion of misconduct in public office on Thursday morning at the Sandringham Estate.
He became the first senior royal in modern history to be arrested and held in custody.
Pictured on Thursday evening, Andrew can be seen leaning backwards in the back seat of a car leaving Aylesham police station in Norfolk.
It is understood he has now returned to his Sandringham address following a full day of being questioned by officers.
A spokesperson for Thames Valley Police said: “On Thursday (19/2) we arrested a man in his sixties from Norfolk on suspicion of misconduct in public office.
“The arrested man has now been released under investigation. We can also confirm that our searches in Norfolk have now concluded.”
The former prince is accused of sharing sensitive information with paedophile financier Jeffrey Epstein while serving as the UK’s trade envoy.
Thames Valley police also said its searches in Berkshire are still underway, and that it would make no further statement at this time.
The allegations claim that he shared reports of official visits to Hong Kong, Vietnam and Singapore with disgraced financier Epstein.
Police have been searching both Wood Farm in Norfolk and Royal Lodge in Windsor throughout the day while the former Duke of York was questioned in custody.
Andrew temporarily relocated to Wood Farm on the King’s private Sandringham estate this month after leaving Royal Lodge, while waiting for his new home, Marsh Farm, to be ready nearby.
Officers and police vehicles have been seen entering and leaving Royal Lodge in Berkshire since the arrest.
Andrew has previously denied any wrongdoing over his connections to Epstein.
He has not responded to LBC’s requests for comment on the specific allegations connected to the release of the latest Epstein files in January.
