Prince Charles, 71, spent seven days self-isolating in Scotland after testing positive and displaying mild symptoms.
The Duchess of Cornwall, 72, was tested and did not have the virus, but will self-isolate until the end of the week.
A Palace official said the prince was in good health and was following the government's restrictions.
"Clarence House has confirmed today that, having consulted with his doctor, the Prince of Wales is now out of self-isolation," a spokesman said.