The Duke denied claims that he had sex with Virginia Giuffre, who said she was trafficked by Epstein on three separate occasions, including when she was 17 – still a minor under US law.
Ms Giuffre said one alleged encounter began with the Duke sweating heavily as they danced at London nightclub Tramp.
But he told Maitlis he had a medical condition at the time which meant he did not sweat, and that he had no recollection of ever meeting Ms Giuffre.
He also insisted he spent the day taking one of his daughters to the Pizza Express in Woking for a party.
Prince Andrew later settled his US sexual assault case out of court, although the agreement was not an admission of guilt from the Duke and he has always strenuously denied the allegations against him.
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