The Duke of York has said he is grateful for an apology from police after he was challenged by armed officers in the gardens of Buckingham Palace.
In a statement, Prince Andrew said the police had a difficult job and sometimes they "get it wrong".
Police had earlier confirmed a Sunday Express report that Prince Andrew had been challenged to identify himself by armed officers inside the gardens of Buckingham Palace just two days after a man was arrested inside the Queen's most famous residence on suspicion of burglary.
Scotland Yard confirmed that a man was stopped at around 18:00 on Wednesday and was ordered to verify his identity.
According to the Sunday Express armed police pointed their guns at Andrew and shouted at him to “put your hands up and get on the ground” after mistaking him for an intruder.
According to the paper for half a minute "jittery" armed police quizzed the 53-year-old before realising who he was.
The paper claims that the Duke was "livid" about the incident and "tore them off a strip".
Police have confirmed that they stopped an individual but have said "no weapons were drawn and no force was used" in the incident.
A spokesman for the Metropolitan Police said: "On Wednesday, 4 September at approximately 1800hrs two uniformed officers approached a man in the gardens of Buckingham Palace to verify his identity.
"The man was satisfactorily identified. No weapons were drawn and no force was used."
The latest security blunder follows alarm earlier this week after a man was arrested on suspicion of burglary inside the palace.
A security review has been launched following the incident on Monday night when a man was found shortly before 10.30pm "in an area currently open to the public during the day" and arrested for burglary, trespass and criminal damage.
A second man was arrested outside the palace for conspiracy to commit burglary.
A spokesman for the Metropolitan Police said: "Both men have been bailed to return to a central London police station and enquiries continue.
"A review of the specific circumstances of this incident is being carried out. No members of the Royal Family were at Buckingham Palace at the time of the incident."
A spokesman added that security would form part of the review.
The Duke of York said this afternoon that he was "grateful" for an apology from police.
Prince Andrew said in a statement today: "The police have a difficult job to do balancing security for the Royal Family and deterring intruders, and sometimes they get it wrong.
"I am grateful for their apology and look forward to a safe walk in the garden in the future."
The Queen made her traditional appearance at a Highland Games yesterday, as details of the break-in emerged.
She was joined by the Duke of Edinburgh and the Prince of Wales at the Braemar Gathering in Aberdeenshire, where the royal party watched pipe bands and dancers perform to a large crowd.
The Queen has been spending her summer break at Balmoral Castle since the beginning of August and is not expected to return to the palace until October.
The arrest for burglary inside Buckingham Palace is the most serious security incident since Michael Fagan, an unemployed father of four, broke into the palace in 1982 and spent around 10 minutes talking to the Queen.
He had gained access to the building by climbing over the palace walls and up a drain pipe.
The Queen managed to raise the alarm when Fagan asked for a cigarette, allowing her to call for a footman who held him until police arrived.