Virginia Roberts has told how she felt 'horrified and ashamed and dirty' after having sex with Prince Andrew, whom she claims slept with her when she was a 17-year-old sex trafficking victim of Jeffrey Epstein's.

Ms Roberts - now Virginia Giuffre - told the BBC's Panorama programme tonight that after coming to London with Epstein and his alleged madam Ghislaine Maxwell in 2001, she went dancing with the Prince at a nightclub where he was 'raining' sweat on her'.

The 35-year-old told said that after leaving Tramp nightclub, 'in the car Ghislaine tells me that I have to do for Andrew what I do for Jeffrey.

'And that made me sick. I didn't expect it from royalty.

'I didn't expect it from someone that people look up to and admire - the royal family.'

Describing the alleged events of the evening she said: 'There was a bath and it started there and it led into the bedroom.

'It didn't last very long, the whole entire procedure. It was disgusting.

'He wasn't mean or anything. But he got up and said thanks and walked out.

'And I sat there in bed just felt horrified and ashamed and felt dirty.'

She went on: 'I had just been abused by a member of the royal family.'

Andrew was pictured with his arm around Virginia Roberts's waist at Ghislaine Maxwell's house in London in March 2001, although he has raised doubts about the veracity of the photograph

She said that the following day Ghislaine Maxwell told her she had made Maxwell's friend the Prince 'very happy'.

In a moving and at times tearful interview, Ms Roberts also said she is 'calling BS' on 'ridiculous excuses' from 'people on the inside' which seek to rubbish her claim of having had sex with Prince Andrew while a teenager trafficked by Jeffrey Epstein, adding, 'because that's what it is'.

The 35-year-old has continually alleged that she was trafficked by Jeffrey Epstein and had to have sex with Andrew, which the Duke of York categorically denies.

She told the BBC's Panorama in an interview on BBC One at 9pm tonight that 'The people on the inside are going to keep coming up with these ridiculous excuses - like his arm was elongated or the photo was doctored, or he came to New York to break up with Jeffrey Epstein.

'I mean, come on, I'm calling BS on this, because that's what it is.'

She also told the BBC that she knew she 'had to keep him happy because that's what Jeffrey and Ghislaine would have expected from me.'

Miss Roberts urged the British public to 'stand up beside me to help me fight this fight' and 'not accept this as being OK'.

In the interview with BBC Panorama, she told how Andrew was 'the most hideous dancer I've ever seen in my life' and 'his sweat was ... raining basically everywhere'.

Miss Roberts's interview took place before the duke's appearance on Newsnight.

She told Panorama reporter Darragh Macintyre of her night with Andrew: 'He is the most hideous dancer I've ever seen in my life.

'It was horrible and this guy was sweating all over me, his sweat was like it was raining basically everywhere, I was just like grossed out from it, but I knew I had to keep him happy because that's what Jeffrey and Ghislaine would have expected from me.'

In his recent Newsnight interview, Andrew claimed he had a medical condition in 2001, after suffering an overdose of adrenaline in the Falklands War when he was shot at, which meant he did not sweat.

When they had left the club, Miss Roberts said the socialite Ms Maxwell gave her instructions. She added: 'In the car Ghislaine tells me that I have to do for Andrew what I do for Jeffrey and that just made me sick.'

She said that later that evening she had sex with Andrew upstairs at Maxwell's house in Belgravia.

The duke has insisted he has no memory of meeting Miss Roberts, saying: 'I can absolutely categorically tell you it never happened. I have no recollection of ever meeting this lady, none whatsoever.'

He denies having sex with her.

In the broadcast Roberts revealed she was sexually abused as a young child and had run away from home.

She said: ' I was abused from a very young age. Seven years old and my childhood was quickly taken away from me.

'I was just so mentally scarred already at such a young age and I ran away from that. I found nothing on the streets except for hunger and pain and abuse and it was scary, I wanted to get out of it.'

She spoke of her excitement on being offered a job as a massage therapist, and how it turned to horror and betrayal upon learning she would be expected to provide sexual favours for Epstein.

She said: 'They [Epstein and Maxwell] seemed like nice people so I trusted them, and I told them, I’ve had a really hard time in my life up until them, I was a runaway, I’d been sexually abused, physically abused.

'That was the worst thing I could have told them, because now they knew how vulnerable I was

'If was like a gift for them, that was exactly what they needed wanted and they got it

'So they told me to take my clothes off, and Ghislaine took her clothes off, and Jeffrey was already nude, and they asked me to do things to him, and touch him.

'I thought "this must be what life’s about."

'It was a real big kick in the gut. It was a face of reality that I succumbed to. So I let them abuse me. And I did what they told me to do.'

Jeffrey Epstein and his girlfriend Ghislaine Maxwell are pictured in New York in March 2005

The programme also revealed Andrew sent an email to Jeffrey Epstein's alleged madam Ghislaine Maxwell at 5.50am to let her know he had 'specific questions' about Virginia Roberts in 2015.

Tonight's BBC Panorama investigation uncovered the email which suggests he asked for Ghislaine Maxwell's help in responding to Virginia Roberts' claims he had sex with her when she was 17 and a trafficked 'sex slave' of Epstein.

In the email the Prince tells Ghislaine Maxwell: 'Let me know when we can talk. Got some specific questions to ask you about Virginia Roberts.'

Ghislaine replies: 'Have some info. Call me when you have a moment.'

The Duke of York sent an email to Ghislaine Maxwell at 5.50am in 2015 to let her know he had 'specific questions' about Virginia Roberts after elements of the allegations came to light

Maxwell replied to say she had 'some info' and recommended Andrew telephone her

Andrew's attempts to defend himself against Miss Roberts's previous accusations and explain his friendship with convicted sex offender Epstein in a BBC Newsnight interview last month were branded a 'car crash' and led to him withdrawing from public duties.

He was widely criticised for failing to show remorse for his association with the disgraced financier or empathy with Epstein's victims during his television appearance.

He has resigned from a large number of patronages and seen organisations he was once involved with sever ties.

Miss Roberts claimed in court papers in Florida that she was forced to have sex with Andrew when she was aged 17, below the state's age of consent.

However, that allegation was struck out by a judge in 2015 for being 'immaterial and impertinent'.

Andrew was interviewed by Emily Maitlis in a Newsnight programme shown on November 16

In response to tonight's Panorama, a Buckingham Palace spokesman said the Duke 'unequivocally regrets his ill-judged association with Jeffrey Epstein' and 'deeply sympathises with those affected who want some form of closure'.

They said 'it is emphatically denied that The Duke of York had any form of sexual contact or relationship with Virginia Roberts. Any claim to the contrary is false and without foundation'.

The palace has also stated that any suggestion of impropriety with underage minors by the duke was 'categorically untrue'.

Miss Roberts alleges the duke slept with her on three separate occasions; once in London, once in Epstein's Manhattan mansion, and once on his private Caribbean island.

During his Newsnight interview, the duke said an alleged encounter with Miss Roberts in 2001 did not happen as he spent the day with his daughter, Princess Beatrice, taking her to Pizza Express in Woking for a party.

Epstein took his own life in August in a New York prison while he was being held on sex trafficking charges.