The 97-year-old miraculously walked away unharmed after his car overturned following a collision with another vehicle on the A149 at Babingley, Norfolk.
Prince Philip was trapped inside and reportedly told rescuers: “My legs! Where should I put my legs?”
Both he and the driver of the other vehicle, a Kia, had their breath tested and provided a negative reading, Norfolk Police said.
Eyewitnesses described the 97-year-old as shocked and shaken after the crash and they told the BBC that they helped the duke out of the vehicle.
The Mirror understands the Queen’s husband of more than 70 years was “pulling out of a driveway onto the A149 when the accident happened”.
There was another person in the vehicle, thought to be a close protection officer, who was also unharmed.
Two people in the other car were treated for minor injuries, Norfolk Police said.
Dramatic pictures show the vehicle on its side after the nasty collision with another car just after 3pm today.
A man who witnessed the immediate aftermath of the smash said: “It looked really nasty. The whole front of it was smashed up and there were people there being questioned by police.”
A witness who drove past the scene at around 3.40pm told the BBC: “Obviously it (the vehicle) looked quite smashed in. I’m quite amazed he (the duke) is okay actually.”
Local police attended the scene. The duke was taken from the scene back to Sandringham where he was seen by a doctor who deemed him fit and in good health.
The Queen is now by his side.