Jeffrey Epstein “sex slave” Virginia Roberts Giuffre claimed in her first TV interview that she had sex with Prince Andrew in 2001 when she was 17 in the London townhouse of the financier’s gal pal Ghislaine Maxwell.

“The first time in London, I was so young. Ghislaine woke me up in the morning and said, ‘You’re gonna meet a prince today,’” Giuffre, 35, told “Dateline NBC.”

“I didn’t know at that point that I was going to be trafficked to that prince. And then that night Prince Andrew came to her house in London. And we went out to club Tramp. Prince Andrew got me alcohol. It was in the VIP section. I’m pretty sure it was vodka,” she continued.

“Prince Andrew was like, ‘Let’s dance together.’ And I was like, ‘OK.’ And we leave club Tramp. And I hop in the car with Ghislaine and Jeffrey. And Ghislaine said, ‘He’s coming back to the house. And I want you to do for him what you do for Epstein.’ I couldn’t believe it,” she said.

Giuffre said Maxwell asked Andrew to guess her age.

“When Andrew guessed correctly — I was 17 years old — she was surprised, thinking I could have passed for younger,” she said.

The age of consent in England is 16.

The royal has vehemently denied the allegations, calling them “false” and “without foundation,” according to the UK’s Sun, which said Buckingham Palace would not comment on Giuffre’s new interview.

“He denies that it ever happened, and he’s going to keep denying that it even happened — but he knows the truth and I know the truth,” Giuffre told NBC News’ Savannah Guthrie, adding that the prince was “an abuser, he was a participant.”

The episode, which airs in full at 10 p.m. Friday, will include five other Epstein accusers, including Chauntae Davies, who said of Epstein: “It was a big game for him. And we were pieces of his game.”

Giuffre claimed in the no-holds-barred sit-down that she and the Duke of York had sex in Maxwell’s bathroom and bedroom.

“He wasn’t rude or anything about it, he said ‘Thank you’ and some kind of soft sentiments like that and left,” she said. “I just couldn’t believe it — that even royalty were involved.”

When asked if she was merely interested in a payday, Giuffre said: “Well, unfortunately there’s this horrible law called statute of limitations.

“My lawyers said the way to get Ghislaine Maxwell held accountable, the way to get Jeffrey Epstein held accountable is through them saying I’m a liar, which I’m not. So, it’s called a defamation suit,” she added.

In a preview for the show Thursday, Giuffre said she was in “mourning” after finding out the convicted pedophile had hanged himself in a Manhattan lockup on Aug. 10 while awaiting trial on federal sex trafficking charges.

“It was such a shock to me. I mean when I say ‘shock,’ didn’t have the words,” she said. “I was in mourning, not because the world lost a monster. I was not mourning him. I wasn’t mourning the death of this man. I was mourning the death of my ability to hold this man accountable.”

Last month, Giuffre addressed Prince Andrew directly after hearings into the late financier’s child sex trafficking case.

“He knows exactly what he’s done, and I hope he comes clean about it,” she told reporters when asked if she had any words for the royal.

Also appearing in the NBC interview will be former Playboy model Anouska De Georgiou and Rachel Benavidez, both of whom are coming forward for the first time.

“I think the nature of this kind of abuse means that you’re conditioned to be silent, to be isolated — secretive and shameful,” De Georgiou said. “Jeffrey thought that we were disposable. And he threw us all away. And look who’s still standing.”

She added: “The only solace for me is that when a group of people who have experienced trauma of this kind come together united against a common enemy, there is a very special bond between us all.”

Jennifer Araoz, who has said she was recruited as a teen outside her Manhattan high school, also will appear on the show, along with Marijke Chartouni.

“It was really upsetting,” Araoz said, adding that she felt “let down” that the pervy multimillionaire managed to take his own life behind bars.