Prince Andrew has given an hour-long interview with the BBC addressing his friendship with billionaire Jeffrey Epstein, who killed himself in August in jail as he awaited trial on federal sex trafficking charges involving dozens of underage girls.
Speaking to journalist Emily Maitlis, the Queen's third child denied claims that he had sex with the then-17 year old Virginia Giuffre and has been criticised for his "articulated lorry crash" of an interview.
"It didn't happen," Prince Andrew said of the claims Virginia made against him. "I can absolutely categorically tell you it never happened. I have no recollection of ever meeting this lady, none whatsoever."
The Duke of York also mentioned that he met Epstein in 1999 through the financier's then-girlfriend, Ghislaine Maxwell but after Epstein was convicted and imprisoned for soliciting and procuring a minor for prostitution, he went to stay with him in 2010 to end the friendship.
"I took the judgement call that because this was serious, and I felt that doing it over the telephone was the chicken's way of doing it, I had to go and see him and talk to him," he explained.
When Maitlis highlighted that Ms Giuffre's accusations were "very specific" and included and included that she had said the prince was "profusely sweating", Prince Andrew explained that he had a medical condition that meant he could not have been sweating.
"I didn't sweat at the time because I had suffered what I would describe as an overdose of adrenalin in the Falklands War when I was shot at and I simply… it was almost impossible for me to sweat," he explained.
Prince Andrew also denied claims that he was out in London with Ms Giuffre but "at home with the children" adding that he had taken his eldest daughter, Princess Beatrice, to a party at a pizza restaurant in Woking at about four or 5pm.
"And then because the Duchess was away, we have a simple rule in the family that when one is away the other one is there."
Since the interview's airing, the Duke of York has been slammed by critics, but his ex-wife Sarah Ferguson has stood in solidarity with him, posting a tribute to him via her personal Instagram page.
WATCH: Prince Andrew vehmently denies sex scandal claims. Post continues after video...
"It is so rare to meet people that are able to speak from their hearts with honesty and pure real truth, that remain steadfast and strong to their beliefs," the Duchess of York began her post.
"Andrew is a true and real gentleman and is stoically steadfast to not only his duty but also his kindness and goodness of always seeing the best in people. I am deeply supportive and proud of this giant of a principled man, that dares to put his shoulder to the wind and stands firm with his sense of honour and truth. For so many years he has gone about his duties for Great Britain and The Monarch."
"It is time for Andrew to stand firm now, and that he has, and I am with him every step of the way and that is my honour. We have always walked tall and strong, he for me and me for him. We are the best examples of joint parenting, with both our girls and I go back to my three C's ..Communicate Compromise Compassion."
Royal commentators have also weighed in on Prince Andrew's interview, with many claiming the royal went rogue and conducted the interview without permission from the palace.
One royal commentator Victoria Arbiter tweeted, "As I understand it the Queen gave the go ahead for Andrew's interview. I don't believe she saw clips or approved the finished cut. Had she seen it I expect there'd have been a fight to prevent it airing."
Former Buckingham Palace press officer Dickie Arbiter described the interview as "not so much a car crash but an articulated lorry crash."