Virginia Roberts has told how she felt 'horrified and ashamed and dirty' after having sex with Prince Andrew, whom she claims slept with her when she was a 17-year-old sex trafficking victim of Jeffrey Epstein's.
Ms Roberts - now Virginia Giuffre - told the BBC's Panorama programme tonight that after coming to London with Epstein and his alleged madam Ghislaine Maxwell in 2001, she went dancing with the Prince at a nightclub where he was 'raining' sweat on her'.
The 35-year-old told said that after leaving Tramp nightclub, 'in the car Ghislaine tells me that I have to do for Andrew what I do for Jeffrey.
'And that made me sick. I didn't expect it from royalty.
'I didn't expect it from someone that people look up to and admire - the royal family.'
Describing the alleged events of the evening she said: 'There was a bath and it started there and it led into the bedroom.
'It didn't last very long, the whole entire procedure. It was disgusting.
'He wasn't mean or anything. But he got up and said thanks and walked out.
'And I sat there in bed just felt horrified and ashamed and felt dirty.'
She went on: 'I had just been abused by a member of the royal family.'
Andrew was pictured with his arm around Virginia Roberts's waist at Ghislaine Maxwell's house in London in March 2001, although he has raised doubts about the veracity of the photograph
She said that the following day Ghislaine Maxwell told her she had made Maxwell's friend the Prince 'very happy'.
In a moving and at times tearful interview, Ms Roberts also said she is 'calling BS' on 'ridiculous excuses' from 'people on the inside' which seek to rubbish her claim of having had sex with Prince Andrew while a teenager trafficked by Jeffrey Epstein, adding, 'because that's what it is'.
The 35-year-old has continually alleged that she was trafficked by Jeffrey Epstein and had to have sex with Andrew, which the Duke of York categorically denies.
She told the BBC's Panorama in an interview on BBC One at 9pm tonight that 'The people on the inside are going to keep coming up with these ridiculous excuses - like his arm was elongated or the photo was doctored, or he came to New York to break up with Jeffrey Epstein.
'I mean, come on, I'm calling BS on this, because that's what it is.'
She also told the BBC that she knew she 'had to keep him happy because that's what Jeffrey and Ghislaine would have expected from me.'
Miss Roberts urged the British public to 'stand up beside me to help me fight this fight' and 'not accept this as being OK'.
In the interview with BBC Panorama, she told how Andrew was 'the most hideous dancer I've ever seen in my life' and 'his sweat was ... raining basically everywhere'.
Miss Roberts's interview took place before the duke's appearance on Newsnight.
She told Panorama reporter Darragh Macintyre of her night with Andrew: 'He is the most hideous dancer I've ever seen in my life.
'It was horrible and this guy was sweating all over me, his sweat was like it was raining basically everywhere, I was just like grossed out from it, but I knew I had to keep him happy because that's what Jeffrey and Ghislaine would have expected from me.'
In his recent Newsnight interview, Andrew claimed he had a medical condition in 2001, after suffering an overdose of adrenaline in the Falklands War when he was shot at, which meant he did not sweat.
When they had left the club, Miss Roberts said the socialite Ms Maxwell gave her instructions. She added: 'In the car Ghislaine tells me that I have to do for Andrew what I do for Jeffrey and that just made me sick.'
She said that later that evening she had sex with Andrew upstairs at Maxwell's house in Belgravia.
The duke has insisted he has no memory of meeting Miss Roberts, saying: 'I can absolutely categorically tell you it never happened. I have no recollection of ever meeting