The Princess Royal told ITV News that without her father “life would be completely different”.
Speaking about Philip’s legacy, Princess Anne said: “Without him life will be completely different.
“But from society’s perspective he was able to keep pace with the kind of technological changes that have such an impact… but above all that it’s not about the technology it’s about the people.”
Prince Edward also told ITV News that Philip and the Queen had been a “fantastic support” to each other.
He added: “My parents have been such a fantastic support to each other during all those years and all those events and all those tours and events overseas.
“To have someone that you confide in and smile about things that you perhaps could not in public. To be able to share that is immensely important.”
Edward said he will remember his father in a number of ways, adding: “For what he has done in his public life for all the organisations he has supported and influenced and obviously as my father and husband to my mother and all the work that he has done there and as a family we will remember that more than anything else.”
The Duke of Edinburgh’s public image portrayed by some sections of the media was “always an unfair depiction”, his youngest son the Earl of Wessex said.
Prince Edward told ITV News his father had a “wonderful” sense of humour, but people could misinterpret things or “turn it against them”.
Edward said: “The public image that certain parts of the media would portray was always an unfair depiction.
“He used to give them as good as he got and always in a very entertaining way.
“He was brilliant. Always absolutely brilliant.
“He had a wonderful sense of humour but of course you can always misinterpret something or turn it against them, so it sounds like it’s not right.
“But anyone who had the privilege to hear him speak said it was his humour which always came through and the twinkle in his eye.”
Dame Shirley Bassey, Professor Brian Cox and Carol Vorderman are among those to share messages following the announcement of Prince Philip’s death.
Television presenter Vorderman recounted meeting the duke in a post on Twitter.
“I went for a private lunch with The Queen at Buckingham Palace quite a few years ago,” she wrote.
“They were both in their 80s and Prince Philip and she were flirting with each other madly and laughing.
“Theirs was a love and a marriage of more than 73 years. Deepest condolences Ma’am.”
Prof Cox reflected on his experience of meeting the duke.
He tweeted: “I sat next to Prince Phillip at a lunch a few years ago and we discussed cosmology and relativity for the whole lunch – I hardly ate anything! – he was indeed fiercely intelligent, knowledgable about the subject and endlessly curious. RIP.”
Singer Dame Shirley said she was “saddened” by the news of Philip’s death.
She added on Twitter: “He was an extremely kind & charming man with an exceptional dedication to Queen and Country.
“My thoughts are with Her Majesty the Queen and her family. May he rest in peace.”
The Scottish Parliament is to be recalled for only the sixth time in its history to show respect to the Duke of Edinburgh.
Holyrood’s presiding officer, Ken Macintosh, said MSPs will be recalled at 11am on Monday.
Macintosh said: “I have this afternoon decided that the Parliament should be recalled to show our respect to the Duke of Edinburgh following today’s sad announcement.
“His Royal Highness, Prince Philip, lived a life dedicated to duty and public service and his support for this institution was clear.
“This is why I have taken the decision to recall in order that we may take the time to pause, remember and pay tribute to his work.”
The meeting will start with a minute’s silence before considering a motion of condolence with a statement from party leaders.
The Prince of Wales visited his mother, the Queen, on Friday afternoon travelling from his Gloucestershire home to Windsor Castle following the death of his father, sources told the PA news agency.
Westminster Abbey is paying tribute to the Duke of Edinburgh by tolling its tenor bell 99 times, once for every year of his life.
Following the royal’s death, the abbey announced it would toll the bell every 60 seconds, from 6pm on Friday.
Westminster Abbey said it would be open from Friday until Sunday for private prayer and worship following the duke’s death.
In tribute, the Dean of Westminster said: “It is with profound sadness that we learn of the death of HRH The Duke of Edinburgh, who served HM The Queen and our nation with an unwavering commitment.
“We remember, above all, a self-effacing sense of duty that has been a benchmark of moral purpose in public life for so many years.
“We note with deep gratitude his contribution to the military, charities and young people.
“We are also deeply thankful for his support of our abbey church, including his work to raise funds for the restoration of the abbey.”
The minister of the church used by the royal family when at Balmoral Castle has expressed the community’s sadness at the Duke of Edinburgh’s death.
Reverend Kenneth MacKenzie is the minister of the Parish of Braemar and Crathie and domestic chaplain to the Queen, who visits the church for Sunday services when staying at the castle with members of her family.
Rev Mackenzie, minister of the parish since 2005, told the PA news agency: “I think up here there are lots of people who have had the opportunity over the years to see the duke around and he’s so much part of this place.
“Everybody has favourite memories of the duke, he was just a very interesting man and took a real interest in this area.
“He knew a lot of people and a lot of families who have multi-generational interest in this area so some folk he knew not just their parents but grandparents.
“Everyone will remember him with respect but also a degree of affection, he was really highly thought of around here.”