Prince Andrew has announced he will withdraw from public duties "for the foreseeable future" after his disastrous interview about his friendship with convicted sex offender Jeffrey Epstein.

Key points: Prince Andrew said his association with Epstein has become a 'major disruption' to his family's work

Prince Andrew said his association with Epstein has become a 'major disruption' to his family's work He asked the Queen if he could step back, and she agreed

He asked the Queen if he could step back, and she agreed He is 'willing' to assist law enforcement agencies with any investigations, if required

The Duke of York said he had asked the Queen if he could take a step back from public life and also stated he would be willing to cooperate with law enforcement agencies over investigations into Epstein's alleged crimes.

"It has become clear to me over the last few days that the circumstances relating to my former association with Jeffrey Epstein has become a major disruption to my family's work and the valuable work going on in the many organisations and charities that I am proud to support," Prince Andrew said in a statement.

"Therefore, I have asked Her Majesty if I may step back from public duties for the foreseeable future, and she has given her permission."

The Royal's conduct has overshadowed much of the political campaigning for the United Kingdom's general election on December 12.

In a televised debate on Tuesday night, Prime Minister Boris Johnson said the monarchy was "beyond reproach" while opposition Labour Party leader Jeremy Corbyn said the institution "needs a bit of improvement" and that there were questions to be answered about the Prince's conduct.

Queen's reported 'favourite' reeling from interview

Prince Andrew is Queen Elizabeth II's third child and is eighth in line to the British throne. ( Reuters )

The Prince, who is reported to be the favourite son of Queen Elizabeth II, has been under scrutiny over his friendship with Epstein for the past several years.

He quit as Britain's roving trade ambassador in 2011 after being lambasted for his links to the financier after he was jailed in 2008 for child sex offences.

The Duke of York's interview, which aired on the BBC on Saturday, was deemed by many as a failed attempt to explain his relationship with Epstein, who was found dead in his New York jail cell in August while awaiting trial on federal charges he trafficked girls as young as 14 for sex.

Prince Andrew was also roundly criticised for failing to acknowledge any of Epstein's victims in the hour-long interview, which aired on Saturday.

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 In the interview, the Prince said his association with Epstein 'let the side down', referring to the monarchy.

In his latest statement, he said he "sympathised with everyone who has been affected".

"I continue to unequivocally regret my ill-judged association with Jeffrey Epstein," the Duke said.

"His suicide has left many unanswered questions, particularly for his victims, and I deeply sympathise with everyone who has been affected and wants some form of closure.

Prince Andrew acknowledges he has become a distraction from the work of the Royals. ( Reuters: Toby Melville )

"I can only hope that, in time, they will be able to rebuild their lives."

The Prince, 59, has come under increasing scrutiny after footage was published in August by UK tabloid the Mail On Sunday showing him at Epstein's Manhattan mansion in 2010, two years after Epstein had been convicted and jailed after pleading guilty to soliciting a minor for prostitution.

One of Epstein's victims, Virginia Giuffre, said the disgraced financier forced her to have sex with Prince Andrew at a London apartment in 2001 when she was 17.

Prince Andrew has previously denied any inappropriate relations with Ms Giuffre, and said during the BBC interview he had "no recollection" of ever meeting her.

In his latest statement he said he would be willing to face questions from US law enforcement over any investigation into Epstein.

"Of course, I am willing to help any appropriate law enforcement agency with their investigations, if required," he said.

ABC/wires