Though Prince Philip walked away unharmed, palace officials revealed that he was "shaken" by the crash and concerned for the safety of the people in the other vehicle.
After it was announced that Prince Philip would surrender his driving licence, a senior palace source told the publication: "Philip is a very proud and principled man but it's fair to say the Queen was highly instrumental in his decision to give up his driving licence".
The 97-year-old duke sent a note to Emma Fairweather, 46, after she suffered a broken wrist following a collision with his Land Rover on January 17.
A replacement Land Rover being delivered to the Duke of Edinburgh at the Sandringham estate in Norfolk.
Police issued him with "suitable words of advice" and said "any appropriate action" would be taken if necessary. Two women in the other auto were injured but didn't suffer serious injuries and a 9-month-old boy was unharmed.
The force added: "We will follow the standard procedure and return the licence to the DVLA".
Although Prince Philip's vehicle took a tumble, he had no serious injuries.
Just 48 hours after the crash, Prince Philip was pictured driving without a seatbelt.
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Philip also received an eyesight test, which he passed, according to a police spokesperson.
Philip came under strong media criticism for failing to quickly and publicly apologise for causing the accident.
"He wants to enjoy his retirement but he was very shaken by the crash", Brookes told the BBC.
Philip's behavior also raised questions about why he was still driving instead of being chauffeured around by his entourage.
The duke's driving has been called into question since the crash.
The accident happened as Philip pulled out of a side road on to the 60mph limit A149 road.
Prince Philip retired from public life in 2017, although he still occasionally appears with the Queen at official events.
He is famous in Britain for his forthright manner and his love of speed.