Virginia Giuffre has shared new details of the night she allegedly had sex with Prince Andrew.

The woman who has claimed to have been coerced into having sex with Prince Andrew has revealed she “felt dirty” afterwards in a bombshell new interview.

“He got up and he said ‘thanks’ and walked out and I just sat there in bed, just horrified and ashamed and felt dirty and had to get up and have a shower,” Virginia Giuffre told BBC’s Panorama program this morning.

The interview was filmed before Prince Andrew’s trainwreck BBC appearance last month, but the reporter confirmed Ms Giuffre stood by every word.

Ms Giuffre, 36, alleges she was trafficked as a sex slave by convicted paedophile Jeffrey Epstein and made to have sex with Prince Andrew three times in 2001 and 2002, in the US, London and the Caribbean, when she was 17 years old.

Prince Andrew, 59, has vehemently denied he had sex with her and said he had no recollection of meeting her in a world-first interview with Newsnight last month.

Ms Giuffre, who now lives a low-key life in Cairns with her Australian husband and three children, said both she and Prince Andrew “know what happened”.

“He knows what happened, I know what happened. And there’s only one of us telling the truth,” she said.

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During the bombshell interview, Ms Giuffre described her life as Epstein’s sex slave as that of a person living in a “fancy cage”.

“I might have been meeting some of the most famous people in the world but it didn’t matter … these were bad people who were hurting me,” she explained.

“It didn’t make it better, it didn’t make it easier what I had to do.”

During a two-day visit to London in March 2001, Ms Giuffre claimed to have been staying at the home of Epstein’s girlfriend Ghislaine Maxwell, where Maxwell was “badmouthing” Prince Andrew’s ex-wife, Sarah Ferguson, and Epstein was “socially awkward” when Prince Andrew came around.

According to Ms Giuffre, they then went to Tramp nightclub, where she danced with the royal, who was “the most hideous dancer I’d ever seen in my life”.

“It was horrible, and this guy was sweating all over me, I mean his sweat … it was raining, basically, everywhere … and I was just grossed out from it,” she said.

“But I knew I had to keep him happy because that’s what Jeffrey (Epstein) and Ghislaine (Maxwell) would expect from me.”

She also explained that it was in the car ride to Maxwell’s London house that she was given the order to have sex with the Queen’s son.

“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 told the BBC.

“I just didn’t expect it from royalty. I didn’t expect it from someone people look up to and admire in the royal family.”

Ms Giuffre explained that her sexual encounter with Prince Andrew began in the bath and then moved to another part of the house.

“It didn’t last very long, the whole entire procedure. It was disgusting … He wasn’t mean or anything, but he got up and he said ‘thanks’ and walked out,” she said.

“And I sat there in bed just horrified and ashamed and felt dirty and had to get up and have shower. The next day Ghislaine (Maxwell) tells me ‘you’ve done a really good job’ she pats me on the back and said ‘you’ve made him really happy’.”

It was at this point in the interview that Ms Giuffre broke down.

“It was a wicked time in my life, it was a really scary time. I had just been abused by a member of a royal family — so when you talk about these chains, yeah, I wasn’t chained to the sink, but these powerful people were my chains. I didn’t know what could happen.

“I couldn’t comprehend how in the highest levels of the government, powerful people were allowing this to happen. Not only allowing it to happen but particpating in it.”

After that fateful night, she alleged she went on to have sex with Prince Andrew on two other occasions — once in Epstein’s townhouse in New York and another time at his Caribbean island, Little St James.

“We were not even dignified as humans to them; we were there just as toys to be passed around,” she said of her role on those occasions.

While Prince Andrew has admitted visiting the island, he has denied there was any sexual contact.

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.”

Ms Giuffre also rejected claims the notorious picture of Prince Andrew and her was doctored.

“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,” Ms Giuffre told the interviewer.

“He knows what happened I know what happened. And there’s only one of us telling the truth — and I know that’s me.

“This is not some sordid sex story, this is a story of being trafficked.”

When asked how she could explain inconsistencies in her story, Ms Giuffre said: “You are left with a foggy memory. I might be wrong on dates, I might be wrong on places sometimes, but one thing I can tell you is you never forget the face of someone who has heaved over you.”

Ms Giuffre also opened up about her tragic past before meeting Epstein and Maxwell, revealing she was “abused from a very young age, from seven years old” and was left “mentally scarred”.

In 2001, while working at Donald Trump’s Mar-a-Lago resort, she claimed to have been approached by Maxwell, who offered her a massage job.

In the job “interview”, Ms Giuffre said she was asked to give Epstein a massage, and that he and Maxwell had seemed like “nice people” so she’d opened up about her childhood abuse.

“I told them I’ve had a really hard time,” she said.

“That was the worst thing I could have told them because now they knew how vulnerable I was — it was like a gift for them.”

Soon, Ms Giuffre alleged, she went from being “used by Epstein” to being “passed around like a platter of fruit”.

Ms Giuffre’s interview was filmed before Prince Andrew decided to conduct a 40-minute interview with Newsnight in an attempt to tell his side of the story.

However his decision to speak out was widely ridiculed after he failed to express any support for Epstein’s victims or show regret for his friendship with the billionaire, who had been convicted for child sex offences.

Epstein died by suicide in a New York jail cell in August while awaiting trial on sex trafficking charges.

Prince Andrew said he had no recollection of meeting Ms Giuffre and could not explain how he was pictured with her in a property that is believed to have been the home of his friend, Ghislaine Maxwell.

He also revealed during the Newsnight interview he was at a Pizza Express in Woking the night he is alleged to have sex with Ms Giuffre, and he could not have been the man she described because he “didn’t sweat” due to a medical condition he gained in the Falklands War.

Backlash from the Prince’s extraordinary interview and his lack of sympathy for victims led to many charities and organisations distancing themselves from the Queen’s second son.

He eventually issued a follow-up statement expressing support for those who have accused Epstein of sexual abuses and said he would assist law enforcement where possible.

Ms Giuffre has also accused Alan Dershowitz, a lawyer for Jeffrey Epstein, of being a co-conspirator with him. Mr Dershowitz said he has never met Ms Giuffre and has dismissed her as a liar and an extortionist.

She also claims Ghislaine Maxwell played a role in procuring her for sex, claims Ms Maxwell has denied.