Prince Andrew's media adviser is reported to have quit over the Duke of York's decision to give a tell-all interview about his relationship with the late convicted sex offender and billionaire Jeffrey Epstein.

Key points: The Sunday Times reported that an adviser hired to revive Prince Andrew's reputation left the role two weeks ago

The Sunday Times reported that an adviser hired to revive Prince Andrew's reputation left the role two weeks ago A former Royal press secretary said crisis the Prince's faced had not been well managed

A former Royal press secretary said crisis the Prince's faced had not been well managed A crisis management expert compared the Prince's BBC interview to "watching a man in quicksand"

The Prince spoke to the BBC, which says Queen Elizabeth II gave her approval for the program to go ahead.

But crisis management expert Mark Barkowski told RN Breakfast the Prince did the interview despite being advised not to.

"One of his aides has actually walked because of this," Mr Barkowski said.

"There is a very nasty odour that is surrounding his brand.

"I suspect, looking ahead at 2020, there isn't the same level of official commitments that he would expect."

UK's The Sunday Times reported that Jason Stein left his job at Buckingham Palace two weeks ago, having advised the Prince not to be interviewed.

Mr Stein was reportedly hired to "revive" the Prince's reputation in September, according to the newspaper, but left the position after "both sides agreed" not to continue his employment.

Mr Barkowski said the interview was disastrous to watch.

"For any students of PR, that is how not to do it," he said.

"It was like watching a man in quicksand and unfortunately I don't think anyone would have thrown him a line to get him out."

The Prince's interview has been widely criticised, with some saying he showed no concern for Epstein's victims, many of whom were children.

Interview 'opened the wound'

One of Epstein's accusers, Virginia Giuffre, says she was forced to have sex with the Prince in London, New York and on a private Caribbean island between 1999 and 2002, when she says Epstein kept her as a teenage "sex slave".

The Prince and Epstein were pictured together in 2011. ( New York Post )

Former press secretary for the Royal family Dicky Arbiter said the interview would not silence suspicion around the Prince.

"I don't think the crisis was managed particularly well last night in what he had to say," Mr Arbiter said.

"I mean, there are those who are suggesting it was selective amnesia.

"Perhaps it was selective amnesia, but in terms of damage limitation, I don't think he's limited any damage, he's just opened up the wound even further."

Royal Central editor Charlie Proctor, who oversees the website which covers the British monarchy, said he had been expecting the interview to be a "train wreck", but "that was a plane crashing into an oil tanker, causing a tsunami, triggering a nuclear explosion-level bad."

Prince Andrew is the Queen's second son, and is eighth in line to the throne.

Kate Williams, a specialist in royal history at Reading University, said the Duke of York "had to go", with no amount of charity work he did in the future being able to address the harm done in the interview.

"The Royal household today will be in damage-control mode, trying to work out how to minimize the damage that has come from this," she said.

"Simply, last night was really a burning of the bridges, I think, for Prince Andrew."

Prince denies abuse allegations

Prince Andrew said in the BBC interview he had no recollection of ever having met Ms Giuffre.

He said he could not have been with Ms Giuffre on one of the dates she alleges she was forced to have sex with him — March 10, 2001 — because he took his daughter to Pizza Express in Woking, Surrey.

Prince Andrew said he could not remember this photograph of him with Virginia Giuffre being taken. ( Supplied )

The Prince said a picture of him with Ms Giuffre was "a photograph of a photograph of a photograph".

"I don't believe that photograph was taken in the way that has been suggested," he said.

"Nobody can prove whether or not that photograph has been doctored but I don't recollect that photograph ever being taken."

The Prince said he would "in the right circumstances" submit to being interviewed under oath, but he was "bound by what my legal advice is".

Buckingham Palace has strenuously denied the allegations against the Prince.

In August, the Palace issued a statement after a video was released purporting to show Prince Andrew at the home of Epstein in 2010.

"His Royal Highness deplores the exploitation of any human being and the suggestion he would condone, participate in or encourage any such behaviour is abhorrent," the statement said.

Space to play or pause, M to mute, left and right arrows to seek, up and down arrows for volume. Watch Duration: 1 minute 40 seconds 1 m 40 s Prince Andrew said he would not be able to 'shed light' on Epstein's offending.

Prince's ties with sex offender

The Prince stayed at houses and the private island owned by Epstein, who was convicted as a sex offender after being jailed for soliciting a minor for prostitution in 2008.

Epstein was sentenced to 13 months in prison as part of a controversial plea deal.

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Prince Andrew came under criticism for his relationship with Epstein following his conviction, which culminated in the Prince stepping down from his unpaid role as a UK trade envoy in 2011.

Epstein died in August while awaiting trial on new sex trafficking charges. An autopsy concluded he took his own life.

Space to play or pause, M to mute, left and right arrows to seek, up and down arrows for volume. Watch Duration: 54 seconds 54 s Epstein was accused of trafficking underage girls for sex acts.

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