The January crash occurred just outside the royal family's Sandringham estate when the Duke's auto collided with another vehicle, injuring passenger Emma Fairweather.
He was given "suitable words of advice" according to Norfolk Police.
"Norfolk Police can confirm that the 97-year-old driver of the Land Rover involved in the collision at Sandringham on Thursday 17 January 2019 has today (Saturday 9 February 2019) voluntarily surrendered his licence to officers", the police department stated.
A witness told British media that Philip emerged unharmed but "shocked and shaken" from the smashup with the much smaller Kia hatchback.
Ms Fairweather, 46, from King's Lynn, broke her wrist in the crash.
Further controversy followed when photographs showing the Duke driving without wearing a seatbelt were released.
His auto flipped over in the crash after he pulled out into a busy A road and collided with a Kia, carrying a nine-month old boy, his mother and another passenger.
Police said Philip and the other driver were both given breath tests for alcohol and passed.
"I would like you to know how very sorry I am for my part in the accident at the Babingley crossroads", Prince Philip stated, adding that he was "very contrite about the consequences", cited by Nytimes.com.
Philip came under strong media criticism for failing to quickly and publicly apologise for causing the accident.
Philip's behavior also raised questions about why he was still driving instead of being chauffeured around by his entourage.
The auto was an exact replica of the one he had been driving in the crash.
The accident happened as Philip pulled out of a side road on to the 60mph limit A149 road.
Philip, who also held a pilot's license, stopped flying at age 76, but continued to drive for more than two decades - even chauffeuring President Barack Obama and first lady Michelle Obama in 2016, the year before he retired from public duties.
He is famous in Britain for his forthright manner and his love of speed.