After a vehicle accident and having asked if parties have not been injured and then exchanging details…
If the other party then say that they have called the Police do you have to stay at the scene until they come along or if your certain no one is injured can you drive away and not be done by the Police or courts for leaving the scene?
You can drive away,if there are no injuries and you’ve exchanged details then it’s not a police matter and it’s unlikely they will attend anyway.
Call 101 to cover yourself before leaving 
You can drive away even if there are injuries - Provided you have given the other parties your name & address, details of your vehicle and its owner and (if there are injuries) have given them your insurance details.
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In fact you can drive away even if you haven’t complied with the above - But you must then report in person to a police officer or at a police station AS SOON AS POSSIBLE AND WITHIN 24 HOURS MAXIMUM.
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We don’t routinely inform police at none injury RTCs, we only call them if criminality is discovered (drink/drug driving etc) or one of the people involved makes an allegation.