Prince Philip, the Duke of Edinburgh has escaped injury after a car accident near the Royal Family's estate in Norfolk on Thursday.

The 97-year-old was driving his Land Rover near Sandringham when it collided with a Kia while he was pulling out of a driveway onto a main road.

Queen Elizabeth and Prince Philip attend Royal Ascot day 2015 in Berkshire

While the Prince was uninjured, despite his car rolling over, he was checked over by a doctor before returning to Sandringham. Both occupants of the Kia were taken to hospital and were later discharged. The Kia driver suffered cuts and the passenger walked away with an injured arm, according to the police.

The BBC reported that the Prince was very, very shocked and shaken, according to eyewitnesses that helped him from the car. As is policy for Norfolk police, both drivers involved in the incident had to do a breath test at the scene. Both returned negative results.

Queen Elizabeth and Prince Philip in Toronto Canada 2010

The road where the accident happened, the A149, remained open and both vehicles have since been recovered.

A Buckingham Palace statement confirmed the accident, and said that "The Duke was not injured".

The Prince, to the surprise of many, drives regularly on the public roads around Sandringham, but the incident will no-doubt raise further questions about allowing older people to drive. He turns 98 in just under five months.

HRH Prince Philip with Queen Elizabeth during her 2017 birthday celebration

"He really loves driving and takes a great pleasure in it and were he not allowed to drive he would find that quite painful," Kate Williams, a royal historian told Reuters.

Royal biographer Hugo Vickers told BBC News that the Prince previously quit flying planes earlier than he intended to in case he was criticised in the event of an incident, and Vickers thinks this incident could lead to a similar decision.

Prince Philip at James Fort, Virginia USA 2007

"Some years ago he gave up flying planes long before he needed to because he was scared that if something happened there would be a lot of criticism," said Vickers. "You know, why was he, at the age of 55, still flying a plane when he should have retired at 48 or something like that."

"So he does listen to these things - he's very, very sensible," he added. "If anyone's involved in a car accident, it's quite a frightening thing. If he thought that he'd lost concentration or something or he hadn't seen somebody he would realise he's not up to it anymore."