"Before I even stopped I said... dial 999".
"How did he walk away?" asked the Daily Mail.
Reportedly, the accident occurred as Prince Philip drove a Range Rover out of the driveway at about 3 p.m. Greenwich Mean Time in Great Britain - or 10 a.m. EST - near the village of Babingley.
The duke has also made contact with the driver and passenger of the other auto, who were injured, and "best wishes" have been exchanged.
The driver of the Kia, 28, suffered cuts to her knee, while a passenger, 45, broke a wrist. The baby boy was not injured.
Philip showed former USA president Barack Obama and his wife Michelle the personal touch when he drove them and the Queen to Windsor Castle after the Marine One presidential helicopter landed close to the monarch's Berkshire home during their visit to the United Kingdom in April 2016.
Royal commentators said Philip, who married Elizabeth in 1947 and has been by her side throughout her record-breaking 66-year reign, would be loathe to give up being behind the wheel of a auto.
Witness Roy Warne told the BBC Radio 4 on Friday that he saw the prince's SUV "careening, tumbling across the road and ending up on the other side".More news: China calls proposed United States legislation against Huawei, ZTE "hysteria"
He and Elizabeth, 92, have been on an extended Christmas vacation at Sandringham, one of her favored rural homes, located 110 miles (177 kilometers) north of London.
Warne told Sky News: "My main concern was the other auto because there was a lot of smoke around it and I was anxious the tank might go up".
But Nick Lloyd, acting head of road safety for the Royal Society for the Prevention of Accidents, said: "In the wake of the incident, we have inevitably heard calls for mandatory testing of people of a certain age". Witnesses told United Kingdom news outlets that his auto turned over, and photos from the crash show his vehicle on its side with a cracked window. "Otherwise known as the Duke of Edinburgh".
Mr Warne said he helped the duke get out of his wrecked Freelander through either the sunroof or windscreen after it had rolled all the way over before coming to rest on its side.
"I asked him to move his left leg and that freed his right leg and then I helped him get out", he said. "And then I saw his face".
Warne described in detail the dramatic moment that he saw Prince Philip's vehicle doing mid-air flips: "it came across the A149 like a somersault".
The Palace confirmed that Philip wasn't injured in the collision.
It was unclear if Philip was accompanied by a security officer.More news: Spider-Man: Far From Home Trailer Leaves No Avengers: Endgame Hints … Great
Eyewitness Roy Warne helped the stricken duke out of his vehicle and said the royal, who was left very shocked by the accident, asked if everybody was all right. "Local police attended the scene".
Safety campaigners have renewed calls for eyesight and medical tests for elderly drivers after the Duke of Edinburgh's vehicle crash - although motoring organisations said young male drivers pose more risk than older ones.
Nick Freeman, the lawyer dubbed Mr Loophole, said the duke could be prosecuted for driving without due care and attention if he was deemed to have made a mistake.
Norfolk Police said, in accordance with policy in collisions, it breathalysed both drivers.
Police said Friday they were still investigating the incident and had not assigned blame.
Prince Philip was taken to hospital on Friday following his auto crash.
Seward recalled how before Philip married Princess Elizabeth in 1947, he had bought himself a two-seater MG convertible and roared around town and country "at great speed".More news: Deion Sanders advises Kyler Murray to choose baseball