Queen Elizabeth II has left a central London hospital after a one-day stay caused by a severe stomach bug.

Queen Elizabeth II (John Stillwell - WPA Pool/Getty Images)

She walked unassisted out of King Edward VII Hospital Monday afternoon wearing a red dress, and was driven away in a motorcade.

The hospital stay had initially been planned for two days. She has been suffering from gastroenteritis, a stomach and intestinal inflammation.

The 86-year-old queen has cancelled her engagements for this week due to the illness. It was her first hospitalization in 10 years.

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