The UK's Prince Andrew has settled a civil sexual assault lawsuit brought against him in the US by Virginia Giuffre, a U.S. federal court filing showed on Tuesday.

Giuffre accused the Duke of York of sexually assaulted her on three occasions when she was 17, allegations he has repeatedly denied.

The 61-year-old's settlement, including an undisclosed payment, was revealed in the joint filing in Manhattan federal court.

The prince, who is ninth in line to the UK throne, was forced to take a step back from royal duties in late 2019, after a television interview with the BBC in which he tried to defend his links to sex offender Epstein.

Queen elizabeth II in January approved the return of Prince Andrew's military titles and patronages.

According to Reuters, lawyers for Giuffre and Andrew said the prince intends to make a substantial donation to Giuffre's charity in support of victims' rights.

The prince "never intended to malign Ms. Giuffre's character, and he accepts that she has suffered both as an established victim of abuse and as a result of unfair public attacks," the filing said.

"Prince Andrew regrets his association with Epstein, and commends the bravery of Ms. Giuffre and other survivors in standing up for themselves and others," the filing added. "He pledges to demonstrate his regret for his association with Epstein by supporting the fight against the evils of sex trafficking, and by supporting its victims."

(With input from agencies)