Photos show the Duke's auto flipped on its passenger's side - off to the side of the road.
The charity said on its website: 'If you've chose to stop driving, or been advised to by the DVLA, there are many ways you can get around and there may be help with transport costs.
"The Range Rover was on its side on a private road", long-time Babingley resident Nick Cobb told BBC News. "Then I went to the black vehicle to help and realised it was the Duke of Edinburgh". The 9-month-old baby was uninjured in the incident, local police in Norfolk said Friday.
The 97-year-old managed to escape the collision without suffering any injuries but was taken to see the doctor as a precaution, a Buckingham Palace spokeswoman has confirmed.
Asked if the duke had then thanked him for getting him out of the auto, Mr Warne said: "No, but he wasn't being discourteous".
By all accounts, he was not injured, but two people in the other vehicle were treated for minor injuries.
The 28-year-old driver of the other auto - a Kia - was treated for cuts to her knee and the 48-year-old passenger sustained a broken wrist in the incident.
He and the Queen, 92, have been on an extended Christmas holiday at Sandringham.
The woman driving the other vehicle, a Kia, and her female passenger needed hospital treatment, while a witness said there was also a baby in the auto. Sure enough, pictures soon emerged showing the prince's vehicle, a Land Rover Freelander, on its side, airbags deployed, with a sizable crater in its passenger side door.
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Police said Friday they were still investigating the incident and had not assigned blame.
A doctor examined Prince Philip at Sandringham, where he was given the all clear.
Seward recalled how before Philip married Princess Elizabeth in 1947, he had bought himself a two-seater MG convertible and roared around town and country "at great speed". He had a pilots license and continued flying privately until 1997, when he took his last flight at the age of 76.
But AA president Edmund King said GP and family advice is more significant than a person's age when it comes to how long someone should keep driving.
"I looked down and had the Prince's blood on my hands".
The Prince retired from official royal duties in August 2017, after completing 22,219 solo engagements since 1952.
It was a classic Philip response.
He also said a baby was helped out from the Kia and the mother was in distress.
"I've no idea. You know where I am?"