Video report by ITV News Royal Editor Chris Ship
Speaking at a news conference outside Epstein's New York mansion, US Attorney Geoffrey Berman said Andrew's lawyers had been contacted by prosecutors and the FBI who requested to interview him as part of the investigation.
Mr Berman, who is overseeing the investigation, said: "To date, Prince Andrew has provided zero cooperation."
Virginia Giuffre, who claims she was trafficked by Epstein, said in an interview with BBC Panorama that she was left "horrified and ashamed" after an alleged sexual encounter with Andrew in London in 2001.
Royal Editor Chris Ship explains how the statement from the US attorney has 'taken everybody by surprise'
On Monday night, Sigrid McCawley, who represents Virginia Giuffre and other alleged victims, said: "Prince Andrew’s continued refusal to cooperate with authorities after freely acknowledging that he would be prepared to answer inquiries raises even more questions about the role he played in the international sex trafficking ring Jeffrey Epstein and others operated.
"Prince Andrew should take most seriously the deeply held belief in this country that no one is above the law."
Ms Roberts-Giuffre claimed she danced with Andrew in Tramp nightclub, adding he was "the most hideous dancer I've ever seen in my life" and "his sweat was... raining basically everywhere".
She said: "He is the most hideous dancer I’ve ever seen in my life.
"I mean it was horrible and this guy was sweating all over me, like his sweat was like it was raining basically everywhere."
"Grossed out" by the duke, Ms Giuffre said Epstein’s then girlfriend Ghislaine Maxwell – the couple she claims introduced her to the prince - gave her instructions when they had left the venue.
She knew she had to keep him happy in the club because “that’s what Jeffrey and Ghislaine would have expected from me”, she said.
She claims that later that evening she had sex with Prince Andrew upstairs at Maxwell's house in Belgravia.
The prince, said in December, that he can "absolutely and categorically" say "it never happened".
During his car crash interview on BBC Newsnight he said he does not recall meeting Ms Giuffre and has strongly denied having sex with her – claiming a medical condition that meant he did not sweat.
Asked about a photo that appears to show him with his arm around Ms Giuffre’s waist, the prince said he didn't recall the photograph ever being taken and questioned if it was his hand in the picture.
Mr Berman was speaking at an event to promote a new law that makes it easier for victims to sue over childhood abuse.
Before being asked about the Duke, he confirmed the investigation was looking at possible "conspirators" who worked with Epstein.
He added: "Jeffrey Epstein couldn't have done what he did without the assistance of others, and I can assure you that the investigation is moving forward."
Andrew has consistently denied accusations he had sex with any underage women.
His representatives have yet to comment on the latest development.