Five of Jeffrey Epstein's accusers want Prince Andrew to give evidence in US courts and say the duke must talk about what he witnessed to the FBI.
Their lawyer claims the Duke of York witnessed men being given massages at the financier's homes, the BBC's Panorama Monday night show revealed.
Pre-trial witness subpoenas have been prepared for the five cases and could be served on the prince if he was ever to set foot in the United States again.
Prince Andrew has said he never saw anything untoward at Epstein's properties in New York, Florida or the Caribbean.
Prince Andrew taking a stroll through New York's Central Park with Epstein following his prison term on December 5, 2010. The prince told the BBC last month the purpose of the visit was to end his friendship with Epstein
The lawyer for the five women, David Boies, told Panorama: 'One of the things that we have tried is to interview Prince Andrew and to try to get what his explanation is.
'He was a frequent visitor. They ought to submit to an interview. They ought to talk about it.'
Lawyers for the victims claim they have written to the prince twice requesting an interview but have yet to receive a response.
Prince Andrew was last month asked by the BBC whether he would ever testify under oath, and he replied: 'If push came to shove and the legal advice was to do so, then I would be duty bound to do so.'
Virginia Roberts has previously described how it would have been impossible to spend time with Epstein and not known what was going on.
Describing Epstein's Manhattan mansion, Prince Andrew told Emily Maitlis: 'There were a lot of people who were walking around Jeffrey Epstein's house. As far as I was aware, they were staff, they were people that were working for him, doing things.'
He added: 'I interacted with them, if you will, to say good morning, good afternoon but I didn't, if you see what I mean, interact with them in a way that was, you know what are you doing here, why are you here, what's going on?'
The five women who are suing Epstein's estate would still require a judge to sign off on the drafted subpoenas and Prince Andrew could then fight them in court if he did not wish to provide evidence.