APS was set up in 2009 to provide insurance against losses from banks’ portfolio of risky assets and derivative exposures.
Having signed an accession agreement to the APS on 26 November 2009, RBS paid £2.5bn for its participation in the scheme, in addition to around £1.5bn to HM Treasury for liquidity support received during the 2008 financial crisis.
Under the scheme, around £282bn of assets were insured by the UK government, which have since reduced by 63% to £105bn.
The bank has been successful in growing its overall UK loan book for core retail and corporate customers by 4% since 2008.
RBS will continue to work along with the UK Financial Services Authority (FSA) on matters related to its capital plans and actions for ensuring a balanced transition to Basel III.
RBS Group chief executive Stephen Hester said, "Huge progress has been made towards that goal and our exiting the APS is a significant milestone in RBS’s recovery."