The Duke of Edinburgh walked away from the crash, despite shocking images showing his black Land Rover on its side, with the windscreen smashed.
Police and ambulance crews attended and two people in one of the vehicles suffered minor injuries.
The Duke of Edinburgh has been involved in a vehicle crash, Buckingham Palace has said.
The Duke was not injured in the collision, a Buckingham Palace spokesman confirmed yesterday.
The Queen and Prince Philip have been staying in Sandringham since Christmas.
The Queen and the duke will return from their country home at the beginning of February, as she traditionally marks the anniversary of her father's death privately on the estate.
The palace said a doctor examined Philip as a precaution and confirmed he wasn't hurt.
"The male driver of the Land Rover was uninjured", it added.
Philip was pulling out of a driveway on the A149 and onto the main road when his Range Rover overturned in the crash, reports the BBC.
A biography of the Duke by Basil Boothroyd, published in 1971, notes that Prince Philip has often been accused of being a less-than-steady driver.
Both were treated at the Queen Elizabeth Hospital in King's Lynn.
A nine-month-old baby boy also survived unhurt in the Kia, police said.
Both drivers were given breath tests "per department policy", which they both passed. Though increasingly out of the range of journalists and photographers-he even skipped the obligatory Christmas church service on December 25-he's kept up his private duties of being in charge of the royal family's private estates.
Numerous eyewitnesses scrambled to help the royal get out of his vehicle safely. He was very shaken and he went and asked: 'Is everyone else alright?' He's a very courageous man. "I saw it careering, tumbling across the road and ending up on the other side".
There is no legal age in Britain to stop driving, but after 70 people must renew their licence every three years.
Philip retired from public life in 2017 after 65 years of service, during which he conducted more than 22,000 solo engagements and delivered almost 5,500 speeches.