Prince Harry, 29, was travelling in a convoy comprising two blacked-out Range Rovers and four motorcycle outriders to the Invictus Games when the crash happened yesterday, injuring a member of his Special Escort Group.
"The prince was obviously very concerned and wanted to make sure the men were OK. He is relieved to hear they are both in a stable condition," said a spokesperson for the royal.
The police biker was thrown up in the air and the taxi driver was seen slumped in the front seat and had to be cut free by fire crews, London Evening Standard reported.
"The police motorcyclist was displaying warning lights, as it was providing security escort at the time. The London Fire Brigade were in also attendance and worked to release the driver from his vehicle. Police officers remained at the scene and provided assistance," a Scotland Yard spokesperson said.
No arrests have been made so far and an investigation is underway to ascertain the cause of the crash.