Buckingham Palace said the 97-year-old was driving a Range Rover when the crash involving another vehicle occurred.
Two people in the other vehicle were treated for minor injuries, a local newspaper reported.
The accident happened at around 3 p.m. (10 a.m. ET) on a public road — the A149 — near the town of King’s Lynn, the Eastern Daily Press reported.
Pictures from the scene appear to show the duke’s Range Rover resting on its side.
Following the collision, Philip saw a doctor at the Queen’s Sandringham Estate nearby in Norfolk, where he and the monarch are staying.
The Archbishop of York, John Sentamu, offered a prayer for Philip on Twitter after reports emerged of the crash.
Philip retired from public life in 2017 after 65 years of service during which he conducted more than 22,000 solo engagements and delivered nearly 5,500 speeches.
His retirement came more than five years after Buckingham Palace initially said he would commence scaling back his workload, though he remained eager to continue many of his duties.
Since taking a step back, Philip has been seen in public at a handful of events with the Queen and other members of the royal family, including last year’s weddings of the Duke and Duchess of Sussex and Princess Eugenie and Jack Brooksbank.
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