Prince Andrew, the Duke of York has given up his military titles and royal patronages, the palace announced on Thursday after a U.S. judge denied his plea to dismiss a sexual assault lawsuit.

The courts Wednesday decision paved the way for the case to proceed later this year.

Prince Andrew was sued by Virginia Giuffre for unspecified damages last year, the allegations being that he sexually assaulted her in 2001 when she was 17, a minor under U.S. law. She claims Andrew assaulted her at Epstein's home in New York and on Epstein's private island in the U.S. Virgin Islands.

"With the Queen's approval and agreement, The Duke of York's military affiliations and royal patronages have been returned to the Queen," a statement by the palace reads.

"The Duke of York will continue not to undertake any public duties and is defending this case as a private citizen."

Andrew has rarely been seen in public since being forced to withdraw from royal duties in 2019 for not distancing himself from Epstein.