“I saw the car flip and thought f*****g hell,” witness, a barrister called Roy told the UK’s Sun.
“Before I even stopped I said… dial 999.”
Roy helped Philip out of his overturned Land Rover.
“I looked down and had the Prince’s blood on my hands. All I could think is, thank goodness there wasn’t more,” he added.
Roy reached into the car and “eased” the Duke out, he told the publication.
Berneen Caney, 25, who witnessed the scene of the accident, said it appeared to be “serious”.
“There was a lot of glass over the road as well as debris, I saw one of the cars was quite badly damaged, as for the Range Rover, its windows were smashed.”
The support worker from King’s Lynn added: “By the time I passed by, the Range Rover had been tipped back up on its wheels.
“I didn’t see that much as I was more concerned the car in front of me was braking to turn off and that there was glass and debris all over the road.
“There was a lot of people there including police, and there was a paramedic there too.”
The female driver and female passenger in the other car involved were treated in hospital, Norfolk Police said.
Both drivers involved in the collision were breathalysed, as is force policy, and both provided negative readings, Norfolk Police said.
“Norfolk Police can confirm officers attended a collision on the A149 at Sandringham today,” said a spokesman.
“Officers were called to the scene shortly before 3pm after a Land Rover and Kia were involved in a collision.
A royal spokeswoman added: “[The Duke] saw a doctor as a precaution and the doctor confirmed he was not injured.”
The spokeswoman would not comment on who Philip’s passenger was, but it is likely the duke was travelling with his close protection officer.
Prince Philip will be closely monitored by doctors in the coming days as they look for signs of internal injuries, the Mirror reported.
There is a risk of a brain bleed in these types of situations, experts say.
Dr Nick Scriven, President of the Society for Acute Medicine, told the publication: “They will have to keep an eye on him overnight because the risk for this will be over the next 24 to 48 hours.”
“This is not a minor event for a 97-year-old.”