Philip apologised for his part in the accident on the Sandringham estate in Norfolk when his Land Rover Freelander collided with another vehicle, leaving two women needing hospital treatment. Pictures from the scene showed Prince Philip's Land Rover turned on its side.
The baby was unhurt, but both women had to be treated in hospital.
He escaped injury but Emma Fairweather broke her wrist and called for Prince Philip to be prosecuted if found to be at fault.
"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.
"It was a bright sunny day and at about three in the afternoon, the sun was low over the Wash".
The same witness said Philip had told police he was "blinded by the sun" when he turned onto the road without seeing the oncoming auto.
He told Emma Fairweather, who suffered a broken wrist in the crash, that "I can only imagine that I failed to see the auto coming, and I am very contrite about the consequences".
Philip came under strong media criticism for failing to quickly and publically apologise for causing the accident.
"As a crowd was beginning to gather, I was advised to return to Sandringham House by a local police officer".
Prince Philip had to be pulled from the wreckage after he pulled out on an A road and hit a Kia, which was carrying a nine-month-old boy, his mother and another passenger.
Philip drove then-U.S. President Barack Obama and his wife Michelle to lunch at Windsor Castle during their state visit to Britain in 2016, prompting Obama to remark: "I have to say I have never been driven by a Duke of Edinburgh before, but I can report it was very smooth riding".