He was filmed walking along a path with his brother Prince Charles to St Mary Magdalene church near the Queen's estate in Sandringham, eastern England in time for a 9 a.m. service.
He did not join other members of the family when they walked to the 11 a.m. service - one of the staples of the royal calendar.
British media reported that Andrew had made a personal decision to miss the main service and instead stayed in the house with his father, Prince Philip. Buckingham Palace declined to comment.