Here is a timeline of the duke's relationship with Epstein.
Andrew first meets Epstein, reportedly introduced through his friendship with Ghislaine Maxwell, the daughter of newspaper tycoon Robert Maxwell.
Andrew welcomes Epstein to the Queen's private Scottish retreat in Aberdeenshire. Andrew later says he sees Epstein 'infrequently', adding 'probably no more than only once or twice a year'.
Andrew and Ms Maxwell are seen on holiday with Epstein at Donald Trump's Mar-a-Lago Club in Palm Beach, Florida.
Epstein and Ms Maxwell attend a party at Windsor Castle hosted by the Queen to mark Andrew's 40th birthday, the Princess Royal's 50th, the Queen Mother's 100th and Princess Margaret's 70th.
Virginia Roberts claims to have had sex with Andrew 'three times, including one orgy', with the first encounter allegedly taking place in Ms Maxwell's London townhouse. Ms Roberts claims to have had sex with Andrew on two more occasions, at Epstein's New York home and at an 'orgy' on his private island in the Caribbean.
Epstein admits prostituting minors and is sentenced to 18 months in prison.
Epstein is released from jail. Andrew is photographed with the disgraced Epstein in New York's Central Park.
Footage emerges years later, reportedly shot on December 6 2010, showing him inside Epstein's Manhattan mansion, from where he is seen looking out from a large door of the property waving a woman goodbye after Epstein leaves to get into a chauffeur-driven car.
The duke quits his role as UK trade envoy after the fallout from the Central Park photos.
Buckingham Palace denies Andrew has committed any impropriety after he is named in US court documents related to Epstein. A woman, later named in reports as Ms Roberts, alleges in papers filed in Florida that she was forced to have sex with Andrew when she was 17, which is under the age of consent in the state.
At the World Economic Forum in Davos, Andrew, in his first public engagement since he was embroiled in the allegations, responds, saying: 'Firstly I think I must, and want, for the record, to refer to the events that have taken place in the last few weeks.sonos sonos One (Gen 2) - Voice Controlled Smart Speaker with Amazon Alexa Built-in - Black read more
'I just wish to