The Duke of York’s accuser Virginia Giuffre has told BBC Panorama she felt “horrified and ashamed” after allegedly having sex with Andrew when she was a teenager.
Ms Giuffre claims she was trafficked by the since-disgraced financier Jeffrey Epstein and forced to have sex with the duke in 2001.
Andrew categorically denies he had any form of sexual contact or relationship with Ms Giuffre.
In her first UK television interview, Ms Giuffre said: “There was a bath and it started there and then 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 he said ‘thanks’ and walked out.
“I sat there in bed, just horrified and ashamed and felt dirty. I had to get up and have a shower.”
She added: “The next day, Ghislaine (Maxwell) tells me I did a really good job. She pats me on the back and said ‘You made him really happy’.”
In tears, Ms Giuffre said: “It was a wicked time in my life. It was a really scary time in my life. I had just been abused by a member of the royal family… These powerful people were my chains.”
Claiming she danced with a sweating Andrew at Tramp nightclub in London earlier that night, Ms Giuffre said: “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.”
She was allegedly told the duke was coming back to Ghislaine Maxwell’s house.
“Ghislaine tells me I have to do for Andrew what I do for Jeffrey, and that made me sick,” she said.
“I just didn’t expect it from royalty. I didn’t expect it from someone that people look up to and admire in the royal family.”
Ms Giuffre told how while working as a 17-year-old locker room attendant at Donald Trump’s Mar-a-Lago resort in Florida she was approached by Ghislaine Maxwell to train as a massage therapist.
“They seemed like nice people so I trusted them,” she said of Ms Maxwell and Epstein.
Ms Giuffre told the couple she had had a difficult time and had been a runaway and sexually abused.
“That was the worst thing I could have told them because now they knew how vulnerable I was,” she said.
Quizzed on accusations of inconsistency, Ms Giuffre said: “You are left with a foggy memory sometimes, you really are.
“I might be wrong on dates absolutely and I might be wrong on places even, sometimes.
“But one thing that I can tell you is you never forget the face of someone who has heaved over you.”
Viewers heard how Ghislaine Maxwell once brought out a Spitting Image puppet of Andrew which the duke allegedly put on a woman’s breast.
The incident is said to have taken place when Ms Giuffre and another woman, Johanna Sjoberg, were at Epstein’s house off Fifth Avenue in New York.
Ms Giuffre said: “Prince Andrew put the puppet on Johanna’s breast. Ghislaine was like ‘I wanna take a picture of that’ and they did. They took a picture and they were laughing about it.
“It just goes to show how much we were not even dignified as humans to them. We were there as toys to be passed around.”
Ms Giuffre also claimed that while in London in 2001, the duke and Ms Maxwell were “bad-mouthing” Andrew’s ex-wife Sarah, Duchess of York.
“We were having tea and Andrew was talking about Fergie – his ex-wife at that point, and Ghislaine’s bad-mouthing Fergie as well.”