Buckingham Palace says he was unhurt in the incident.
The Duke of Edinburgh has been involved in a road traffic accident close to the Sandringham Estate but was not injured, Buckingham Palace said.
A Buckingham Palace spokeswoman confirmed the Duke was driving when the accident happened.
She added: "He saw a doctor as a precaution and the doctor confirmed he was not injured."
The spokeswoman would not comment on who Prince Philip's passenger was, but it is likely the Duke was travelling with his close protection officer.
Norfolk Police said officers were called to the A419 at Sandringham just before 3pm after a Land Rover and a 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," the force said.
"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.
"It is force policy to breath test drivers involved in collisions. We can confirm both drivers were breath tested and provided negative readings. "
Berneen Caney, who witnessed the scene of the accident, said: "It appeared to be quite 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.
"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."
Prince Philip served as Captain General of the Royal Marines until 2017, when the Duke of Sussex took over the role.