The Duke and Duchess of Cambridge have left Kensington Palace with their four-day-old daughter Princess Charlotte as they retreat to their country home Anmer Hall.

Eastern Daily Press: Princess Charlotte of Cambridge. Photo: PAPrincess Charlotte of Cambridge. Photo: PA

William and Kate headed out of London with their new baby and her elder brother Prince George as they made their way to their bolthole in Norfolk.

They will spend the first few weeks of the princess's life in their refurbished Georgian mansion on the Queen's private Sandringham estate as they get to grips with looking after both a newborn and a toddler.

Kensington Palace confirmed the family had set off for Anmer Hall.

Princess Charlotte has had a busy first few days since she arrived on Saturday and made her debut on the steps of the Lindo Wing, sleeping soundly through her first photocall.

Royal relatives including great-grandmother the Queen and grandfather the Prince of Wales travelled to Kensington Palace to meet the fourth-in-line-to-the-throne princess, as have Kate's parents Carole and Michael Middleton and sister Pippa Middleton.

William is on two weeks paternity leave from his job as an air ambulance helicopter pilot and is expected to start the final phase of his training at the beginning of June.