Philip has been in contact with the occupants of the other car involved in the accident – two women who were injured, and a baby – and “well-wishes” exchanged, a palace spokeswoman said.
She added: “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 97-year-old duke was lifted out of his overturned Land Rover after a “horrendous” crash near Sandringham Estate on Thursday.
Roy Warne said he had some of the royal’s blood on his hands after helping free Philip from the wreckage.