Norfolk Police said they spoke with the Duke of Edinburgh after he was seen driving without a seat belt, 48 hours after being involved in an accident near Sandringham in Norfolk.
A spokesman said that "adequate words of advice were given to the driver."
Meanwhile, Emma Fairweather, who broke her wrist in the accident, told the Mirror that the duke did not apologize.
A Palace spokesman said contact was made with the car's occupants to exchange "welcome wishes".
The accident at Sandringham, in which Prince Philip's Land Rover landed next to him, happened on Thursday,
Two days later, images in the Daily Mail and The Sun appeared to show Duke, 97, driving alone on Sandringham estate in a brand new Land Rover without a seat belt.
A Norfolk police spokeswoman said the force was aware of the photographs and spoke with the driver.
"This is in line with our standard response to being told of such images showing this type of crime," she said.
Ms Fairweather told the Sunday Mirror that "I'm lucky to be alive and he did not even apologize."
"It has been such a traumatic and painful time and I would have expected more from the royal family," he added.
She said she had not heard of the royal house, but received a phone call from a police family liaison officer.
"The message he passed did not make sense. He said:" The Queen and Duke of Edinburgh would like to be reminded of you, "she said.
"This is not an apology or even a good wish."
What is the law of seat belts?
- Passengers and drivers should wear a seat belt if one is installed in their seat. There are some exceptions, such as when a driver is reversing
- A person taking not wearing a seat belt could receive a fine on the spot of £ 100. If a case goes to court, the fine may increase to £ 500
- Drivers do not receive penalty points for not wearing seat belts
Sources: RAC and gov.uk