Philip is said to have attended the Queen Elizabeth Hospital in King's Lynn for closer examination, with palace aides now saying he has "no injuries of concern".
A Buckingham Palace spokesman said: “On doctor's advice, The Duke of Edinburgh visited the Queen Elizabeth Hospital in King's Lynn this morning for a precautionary check-up.
"This confirmed His Royal Highness had no injuries of concern. The Duke has returned to Sandringham.”
The Duke was left trapped in his overturned car after the vehicle he was driving collided with a Kia carrying two women and a baby.
It is believed the crash was a result of the senior royal being “dazzled by the sun”.
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.