This post deals with sexual assault and might be triggering for some readers.
The long-held allegations claim the British royal had sex with Giuffre when she was 17, in 2001.
Prince Andrew has denied similar allegations in the past, but will now face the New York-based civil proceeding, likely before the end of the year.
Watch: Prince Andrew denying allegations by Guiffre on BBC in 2019. Post continues below.
Prince Andrew is one of the most prominent people linked to convicted sex offender, Jeffrey Epstein, with his name repeatedly mentioned in legal depositions surrounding accusations against Epstein for running a decades-long sex trafficking ring along with British socialite Ghislaine Maxwell.
In one document from 2015, accuser Virginia Giuffre said she was forced to have sex with Prince Andrew - the Queen's second son who holds the title the Duke of York - on three occasions when she was a child. The palace have denied this.
Giuffre said Andrew was one of Epstein's regular clients.
"We went to club Tramp and he [Prince Andrew] danced with me. And he sweats a lot, and he smells funny," Giuffre told 60 Minutes in 2019.
"And then we get in the car and Ghislaine tells me in the car that I have to do what I do for Jeffrey for Prince Andrew and that’s where I learned what was going to happen."
At the time Giuffre maintained that she was trafficked to Prince Andrew for sex three times - once in London, once in New York, and once on Epstein's private island.
A photo from 2001, showing Prince Andrew with his hand around the then 17-year-old Giuffre's waist seemingly shows that they met. In the background of the photo, Maxwell is smiling at the camera.