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Mr Smith, who played Prince Philip on the Netflix show, revealed that the Duke of Edinburgh is loved by everyone at the palace.
He said: “All the research I did found him to be brilliantly funny, very clever, very popular.
“In the Royal house he’s the most popular of all of them.
“If you’ve talked to any of the staff, Philip’s the one they all love really.”
The actor noted that the Duke of Edinburgh’s affability could be explained by the fact he has not fully embraced royal etiquette.
Mr Smith said: “I think more than a lot of them, he’s a bit more of a man of the people.
“The royal protocol hasn’t dogged him in quite the same way his whole life and there’s a sort of rebellion in him and a naughtiness and a cheekiness.
“I think he’s quite affable and open by all accounts with the staff.
“They all love him.”
Prince Philip, 97, formally retired from royal duties last August but the Duke of Edinburgh has been seen by the Queen’s side on a number of occasions as well as enjoying carriage rides at Windsor Castle.
Earlier this year Prince Philip underwent a hip replacement operation, sparking health fears after he remained in hospital for six days.
However, only a couple of weeks after the surgery, the robust royal was seen making the Queen smile as he attended the third day of the Royal Windsor Horse Show.
Following the operation, Buckingham Palace said in a statement: “The Duke of Edinburgh has undergone a successful hip replacement operation. He is progressing satisfactorily at this early stage.
“His Royal Highness is likely to remain in hospital for several days. He is comfortable and in good spirits.”
Philip is the longest-serving consort of a reigning British monarch and the oldest-ever male member of the Royal Family.
He completed 22,219 solo engagements and gave 5,496 speeches after the Queen’s accession to the throne in 1952.
When he retired on August 2, 2017, he quipped that he was “the world’s most experienced plaque-unveiler.”
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