Prince Philip was breath tested alongside a second driver after his Land Rover was involved in a crash in Norfolk this afternoon.
They both tested negative, Norfolk Police said.
The duke was left "very shocked" and shaken following the two-vehicle collision, but walked away unhurt after his vehicle overturned.
At least five police cars and two ambulances rushed to the scene.
The female driver and female passenger in the other car, a Kia, were treated in hospital, Norfolk Police said in a statement this evening.
Philip, 97, was driving the car when the accident happened shortly before 3pm close to the Queen’s Sandringham Estate.
Prince Philip’s Land Rover rolled over during the collision.
One witness said they helped the duke from his vehicle, the BBC reported.
They said the Queen’s husband was conscious but "very, very shocked" and shaken.
The duke was seen by a doctor at his medical facilities on the Sandringham Estate as a precaution but was given the all clear.
The Prince has always been a keen driver and just two weeks after his surgery in June last year, the Duke was spotted back in he driving seat at Windsor.
Norfolk Police said: "Norfolk Police can confirm officers attended a collision on the A149 at Sandringham today.
"Officers were called to the scene shortly before 3pm after a Land Rover and Kia were involved in a collision.
"The male driver of the Land Rover was uninjured. The female driver of the Kia suffered cuts while the female passenger sustained an arm injury, both requiring hospital treatment.
"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.
"The road remained open and both vehicles were recovered a short time later."
President of the AA Edmund King said high profile car crashes involving elderly drivers often spark calls for bans or restrictions on older drivers.
But he added: "If driving restrictions based on age and safety were introduced we would be more likely to restrict young drivers rather than older drivers.
"Young, predominantly male, drivers are much more likely to crash within six months of passing their test than older drivers within six months of hanging up their keys.
"Older drivers often self restrict their driving by not driving at night and only driving on familiar roads."
Norfolk Police said it was force policy to breath test drivers involved in collisions.
Prince Philip car crash
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