The animals, with saddles and bridles, were seen running on the road near Aldwych on Wednesday morning.

Pictures and videos of the horses were shared on social media, one of which showed a black 4x4 with blue lights following the animals.

Sky News understands they were Household Cavalry horses.

An army spokesperson said: "A number of military working horses became loose during routine exercise this morning.

"All of the horses have now been recovered and returned to camp. A number of personnel and horses have been injured and are receiving the appropriate medical attention."

City of London police said two loose horses had been caught on the Highway near Limehouse.

"At around 8.40am, we were called about horses that had become loose and were travelling through the City," the force said in a statement.

"Our officers have contained two horses on the Highway near Limehouse. We're waiting for an army horse box to collect the horses and transport them to veterinary care."

The Metropolitan Police said in a statement: "We're pleased to confirm that all of the horses have been accounted for. We are continuing to liaise with the army."

In an earlier statement, a spokesman for the force said: "We are aware of a number of horses on the loose in central London."

Ambulance sent to scene

A London ambulance service spokesperson said: "We were called at 8.35am today to reports of an incident with a horse at the junction of Chancery Lane and Fleet Street.

"We sent resources to the scene including an ambulance crew and members of our tactical response unit.

"The incident is still ongoing and we are working with our emergency services partners."