He was operated on for four hours to replace his hip at a hospital in Madrid on Saturday morning, after suffering a triple fracture which the Royal Palace said was "linked to arthritis".
The accident happened in Botswana during what the palace described as a private hunting trip.
Many Spaniards reacted with anger, with criticism of his expensive hobby at a time when his nation is mired in economic crisis with high unemployment and real suffering, especially for the young.
Adding to the embarrassment for the royal family, a few days ago on Monday his eldest grandson, Felipe Juan Froilán Marichalar y Borbón, 13, shot himself in the right foot with a shotgun during target practice at a family estate north of Madrid.
His father was questioned by police for allowing his son to use a firearm without a license, which can only be issued in Spain to those over 14 years old.