He filmed the spooked horse dislodging its rider before bucking and bolting towards Kensington Palace, home to the Duke and Duchess of Cambridge and their three children.
His footage shows the rider being thrown head-first over the horse's neck when her mount suddenly stops at a path.
The rider crashes onto the concrete, taking the reins with her, before the horse slips free of its bridle.
It bolts, initially heading towards a fellow mounted officer and causing their horse to rear and spin, as the dislodged rider clutches her head and then stands up.
The horse soon circles back while the dislodged rider calmly gathers up the bridle.
Mr Chaturedi said: 'I was with my son, walking our dog in Kensington Palace Gardens when a lady walked up to two police offers on horses and pointed in a direction and said "something was happening over there". She pointed towards the palace.'
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