Prince Andrew has reached a financial settlement with his accuser, Virginia Roberts Giuffre.
The settlement sees the end of the civil claim filed in the US and means the Duke of York will not go to trial.
Following the settlement, the royal has pledged to "demonstrate his regret for his association with Epstein" and says he will make a "substantial donation" to Virginia Giuffre's charity.
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A court document reads: “Virginia Giuffre and Prince Andrew have reached an out-of-court settlement. The parties will file a stipulated dismissal upon Ms Giuffre’s receipt of the settlement (the sum of which is not being disclosed).
“Prince Andrew intends to make a substantial donation to Ms Giuffre’s charity in support of victims’ rights. Prince Andrew has never intended to malign Ms Giuffre’s character, and he accepts that she has suffered both as an established victim of abuse and as a result of unfair public attacks.
“It is known that Jeffrey Epstein trafficked countless young girls over many years. Prince Andrew regrets his association with Epstein, and commends the bravery of Ms Giuffre and other survivors in standing up for themselves and others.
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“He pledges to demonstrate his regret for his association with Epstein by supporting the fight against the evils of sex trafficking, and by supporting its victims.”
Giuffre, 38, accused Jeffrey Epstein and his then-associate Ghislaine Maxwell of sexual abuse, and claims she was "forced to have sex" with the Duke of York when she was 17 years old.
She also accused the Prince of “battery”.
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The offences are claimed to have happened in 2000 and 2002 in Maxwell’s home, Epstein’s New York apartment and his private island.
Giuffre has since expressed that the three alleged instances of abuse continue to cause her "significant emotional and psychological distress and harm".
Prince Andrew has always denied the historic allegations.
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Lucy Devine