The Melrose Place actress got into the collision on Friday (September 14) after dropping off her daughter at school.
According to WENN, Rinna was cut off by another vehicle that entered her lane, resulting in the crash.
The actress took to her Twitter account after the accident, saying: "Angels watching over me! I was just in a car accident so lucky the guy turned right from the left lane and I was in the right lane Bam… I'm ok! Very lucky. Car not so much."
Rinna, who recently appeared on Celebrity Apprentice, later thanked fans for their support, adding: "Thank you for all of the lovey messages I'm good and a car can be fixed! (sic)
"Thank my angels for keeping me safe and no kids in the car! Lordie, who knew I'd be spending the day like this. As I always say - could be A lot worse!"
The 49-year-old will next be seen in TV Guide's Hollywood Mums Club in November.