The 43-year-old shot scenes from the eagerly-anticipated spy blockbuster at Spitalfields and St Barts, London, on Saturday (January 28). Craig's 007 was seen in the back seat of a Range Rover, which was being piloted by a stunt driver on the roof of the vehicle.
Skyfall, Craig's third outing as the iconic spy following Casino Royale and Quantum of Solace, will see Bond's loyalty to M tested as a figure from her past re-emerges.
The first official picture of Craig as Bond in Skyfall was recently revealed, showing the actor perched by a swimming pool at London's Four Seasons hotel.
Judi Dench, Ralph Fiennes, Ben Whishaw, Bérénice Marlohe, Naomie Harris, Helen McCrory and Javier Bardem co-star in the film, which opens on October 26.
MGM and 20th Century Fox will release the entire James Bond series on Blu-ray boxset for the first time this year to celebrate the franchise's 50th anniversary.
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View on-set photos from the set of Skyfall below: