The unidentified woman raced up to the Duke of York's black Range Rover on Friday morning.
The incident was recorded.
The woman is photographed beating on Andrew's window as he stares terrified and nervously towards her.
The 50-year-old woman was afterwards spotted talking to a man with a radio, possibly a royal protection officer.
She was later arrested.
At around 10 a.m., Thames Valley Police officers were called to Albert Road in Windsor.
This woman was detained on suspicion of using threatening, abusive, or insulting words or behaviour to cause annoyance, alarm, or distress.
She was later granted bail.
The incident comes after the Queen cancelled her annual pre-Christmas meal because to an increase of Omicron cases in the UK.
Her Majesty feared it ‘could jeopardise too many people's Christmas plans' if it went forward.
Due to the epidemic, last year's meeting was cancelled.
The lunch was scheduled for Tuesday, December 21.
The pre-Christmas party allows the president to see family who cannot travel to Norfolk for Christmas.
The Queen is still likely to host her immediate family in Sandringham in Norfolk, but she will seek advise on safety in the coming days, the Daily Mirror reports.