A driver who pulled the Duke of Edinburgh from his crashed car has said it was an "astonishing escape" and the royal is a "very brave man."

Roy Warne, 75, was driving home from hospital with his wife - who had just received an all clear from breast cancer - when he saw the 97-year-old's Range Rover rolling across the road.

Speaking to ITV News this morning, he said: "It was an astonishing escape for everyone. It looked like it had been extraordinarily severe injuries but fortunately the injuries were very light...People could have been killed."

Mr Warne explained he first went to the other car involved in the collision, which had two women and a baby inside it, as he could see smoke.

"They were extremely upset," he said. "The mother particularly for her baby."

Mr Warne says he then went to the Duke's car, pulling him from his wrecked car.

He said: "He's a very brave man. He didn't make a big fuss about it and he went to ask everyone else if they were injured."

Norfolk police said on Friday morning an investigation into the collision is continuing. Police also confirmed a nine-month-old baby was in the Kia at the time of the incident and was uninjured.

A spokesman said: "As is standard procedure with injury collisions, the incident will be investigated and any appropriate action taken.

"We are aware of the public interest in this case, however, as with any other investigation it would be inappropriate to speculate on the causes of the collision until an investigation is carried out."

Police confirmed the driver of the Kia car was a 28-year-old woman who suffered cuts to her knee and her 45-year-old female passenger sustained a broken wrist.

Both casualties were treated at the Queen Elizabeth Hospital in King's Lynn and were discharged Thursday night.

The Prime Minister's spokesman said on Friday that Theresa May had sent a private message to the Duke wishing him well.

It came as a new Land Rover was seen being delivered to Sandringham on Friday, just a day after the crash.

The Duke's car rolled following the collision on the A149. Credit: Tia Greenstreet

Safety concerns have previously been raised over the road where the collision took place.

Norfolk County Council today approved plans for new safety measures on the section of the A149 where the incident happened.

The speed limit will be lowered from 60mph to 50mph and an average speed monitoring system will be implemented.

Committee chairman Martin Wilby read out a short statement ahead of discussions on the issue on Friday.

He said speed reduction and safety have been on the radar of the committee for some time and extended sympathy to all of those involved in the crash on Thursday and wished everyone a speedy recovery.

"But it is not our place to speculate on the cause of last night's incident. We have been looking closely into the safety of the A149 for some time," he added.

The collision happened at the junction of the A419 and the B1439. Credit: ITV News

Eyewitnesses to Thursday's collision described seeing the Prince being helped out of the vehicle, looking "shocked and shaken".

Two occupants of the other car were injured. Credit: Eastern Daily Press

Berneen Caney, 25, said: "It appeared to be quite serious, there was a lot of glass over the road as well as debris, I saw one of the cars was quite badly damaged, as for the Range Rover, its windows were smashed."

She added: "By the time I passed by, the Range Rover had been tipped back up on its wheels.

"I didn't see that much as I was more concerned the car in front of me was braking to turn off and that there was glass and debris all over the road.

"There was a lot of people there including police, and there was a paramedic there too."

The Duke of Edinburgh was not injured in the crash. Credit: PA

Wendy and Ian Greenstreet described seeing "lots of cars and police" at the scene.

"It was mental, it was made. It was horrible, there was glass everywhere," Ms Greenstreet said.

Her husband said: "The Land Rover was actually on its side. The front screen was all out and you could see all the airbags had gone out.

"It was all scratched up and dented and we just thought whether somebody been seriously hurt."

Wendy and Ian Greenstreet described seeing glass everywhere.

The palace said the Duke was seen later by a doctor as a precaution and confirmed he was not injured.

It would not comment on who Philip's passenger was, but it is likely he was travelling with his close protection officer.