The Duke of York Prince Andrew and his accuser Virginia Giuffre have reached an out-of-court settlement in the civil sex claim filed in the US.
In a letter submitted to the United States District Court on Tuesday, Ms Giuffre's lawyer David Boies wrote jointly with Andrew's lawyers to say that the parties had "reached a settlement in principle".
Court documents show the Duke will make a "substantial donation to Ms Giuffre's charity in support of victims' rights".
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Andrew has also pledged to "demonstrate his regret for his association with Epstein" by supporting the "fight against the evils of sex trafficking, and by supporting its victims."
Earlier this year, following the allegations against him, Buckingham Palace announced Prince Andrew's military affiliations and royal patronages had been returned to the Queen.
The Duke of York was also to no longer be called HRH.
It was alleged Ms Giuffre, then known as Virginia Roberts, was sexually abused while aged under 18 by the Queen's second son at Ghislaine Maxwell's home in London, at Epstein's New York mansion and at other locations including Epstein's private island in the US Virgin Islands.
In a Newsnight interview with the BBC's Emily Maitlis in November 2019, Andrew denied claims that he slept with Ms Giuffre on three separate occasions, saying: "I can absolutely categorically tell you it never happened. I have no recollection of ever meeting this lady, none whatsoever."
The Duke also said he had no memory of a well-known photograph of him with his arm around Ms Giuffre's waist at Maxwell's house, and has questioned whether it was his own hand in the image.
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