While reports claimed the Duke's Range Rover had flipped on its side after the collision, it is also said he was able to walk away unscathed.
Norfolk Constabulary said in a statement: 'As is standard procedure with injury collisions, the incident will be investigated and any appropriate action taken.
"The Duke was not injured".
After Prince Philip's scary auto accident, many have been wondering if the royal could even be arrested for the collision between his Land Rover and a Kia.
Buckingham Palace said the crash involved another vehicle and police attended the scene.
A nine-month-old baby boy was also in the Kia involved in the crash with the duke's Land Rover just before 3pm on Thursday.
The Queen and the duke will return from their country home at the beginning of February, as she traditionally marks the anniversary of her father's death privately on the estate.
She added: "He saw a doctor as a precaution and the doctor confirmed he was not injured".
The Queen's consort still drives himself around Sandringham and Windsor Castle and is known to prefer the Land Rover Freelander 2. They were taken to hospital but later released.
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"We can confirm both casualties from the Kia have been treated at the Queen Elizabeth Hospital in King's Lynn and have since been discharged".
Royal commentators said Philip, who married Elizabeth in 1947 and has been by her side throughout her record-breaking 66-year reign, would be loathe to give up being behind the wheel of a vehicle.
Harris said older drivers should visit their GP to have sight and hearing tests every year to check they were fit to continue, and not "put lives on the line when they get behind the wheel".
He said: "He was obviously shaken, and then he went and asked if everyone else was all right".
The duke, who is the Queen's husband, did not join the Royal Family for their Christmas Day church service.
Warne told Sky News: "My main concern was the other auto because there was a lot of smoke around it and I was anxious the tank might go up".
"There will be some surprise that the duke still drives himself on public roads", BBC royal correspondent Jonny Dymond wrote in a commentary.
By coincidence, Norfolk County Council is scheduled to meet on Friday to discuss plans to reduce the speed limit on the road from 60mph to 50mph and install safety cameras.
The duke retired from official duties in 2017, after more than 22,000 solo engagements before the public.