Emily Maitlis has revealed how the Queen gave the final go-ahead for Prince Andrew to take part in the 'car crash' BBC interview over his friendship with Jeffrey Epstein.

The Duke of York attempted to 'set the record straight' by speaking about the sex allegations against him during a sit-down with Maitlis at Buckingham Palace.

He completely refuted any wrongdoing in the interview but he was widely condemned for showing a lack of remorse over his friendship with Epstein.

Despite many calling his performance a 'PR disaster', the prince is thought to have spoken to the Queen at a church service on Sunday, describing the interview as a 'great success'.

Maitlis, whose interview with Andrew was screened on Saturday, revealed that it was the monarch herself who gave the final go-ahead for a TV interview following a year of negotiations with the BBC.

The Queen struck an elegant ensemble as she headed The Royal Chapel of All Saints at Windsor Great Park in a turquoise ensemble this morning. It is claimed that Prince Andrew joined her at the service and assured her that his BBC interview was a great success

Prince Andrew, pictured during his interview with Emily Maitlis, is thought to have told the Queen that the broadcast was a success - despite near universal horror at his appearance

Writing in The Times, she recalled: 'We have finished laying out our pitch. An awkward moment of silence falls. And the duke tells us he must 'seek approval from higher up'.

'It dawns on us then that he means the Queen herself. At 8am the next day we have a message telling us to call his office. The Queen, it seems, is on board.'

A source close to Prince Andrew later claimed he would not 'do anything without discussing it with her majesty first', while a spokesperson for Buckingham Palace said 'the Queen is aware of the interview'.

Veteran royal reporter Jenny Bond Jennie Bond told ITV's Lorraine that Prince Andrew came across as 'extremely undignified' in his interview, 'displayed such appalling judgement' and that it was a 'glaring omission' not to discuss the victims.

It comes as a lawyer for three of Epstein's victims said the interview could increase interest in Andrew's relationship with Epstein, while other senior lawyers suggested that the Duke of York was not immune from prosecution or even extradition to the US to face allegations that he had sex with an underage girl.

Though there was no sign of Andrew as the Queen travelled to church yesterday, sources reported that the Duke of York made his way into the service to speak to his mother.

The Queen appeared stoic during her weekly drive to worship just hours after her second son appeared in the 'car crash' interview - denying he ever had sex with Epstein's 'sex slave' Virginia Roberts.

Her Majesty donned a blue straw hat with feather details and a patterned pale green and blue jacquard jacket with a button-down feature and brooch as she rode alone in the back passenger seat of the royal car.

She looked straight ahead and, showing her penchant for pearls, completed the look with a pearl drop earring, which perfectly complemented her patterned jacket.

Her Majesty donned a blue straw hat with feather details and a patterned pale green and blue jacket with a button down feature and broach as she rode alone in the backseat of the car

Prince Andrew told friends he 'regretted' not ex-pressing sympathy for Jeffrey Epstein's victims in his disastrous TV interview. The Duke of York insisted he had 'great sympathy' for anyone abused by his late paedophile friend, and had been in the dark about the 'extent of his wrongdoing'

Veteran royal reporter Jennie Bond says Prince Andrew's interview has made him an 'undignified, laughing stock' Jennie Bond told today's Lorraine that Prince Andrew has come across as 'extremely undignified' in his interview, 'displayed such appalling judgement' and that it was a 'glaring omission' not to discuss the victims. Asked if it was a car crash interview former BBC Royal Correspondent Jennie said: 'It was and the headlines this morning are testament to that I'm afraid. She added: 'It was a very uncomfortable watch. He was ill prepared for it. His excuse for that photograph, saying simply I have no recollection of it being taken… photograph of a woman he has his hand around her waist and yet he says he never met her as far as he knows. It just didn't add up did it. The result? Horrific headlines this morning.' She continued: 'I don't think self-awareness is something Prince Andrew has ever suffered from greatly. 'It was a glaring omission [not to discuss the victims].' She concluded: 'He's come across as extremely undignified and now he's a laughing stock.' Advertisement

A friend told the Sun: 'The Duke went to church with the Queen and was heard telling her it's all been a great success.

'He thinks he's done the right thing and has put the criticism to rest.'

The source added that Andrew has walked to the church and had 'prayed' with the monarch.

Meanwhile, a source told The Times that Amanda Thirsk, Andrew's private secretary though the Duke's interview was 'incredibly raw'.

Ms Thirsk is believed to be the person who persuaded Andrew to go ahead with the interview.

The source added: 'She thinks people will appreciate that he was open and honest, and answered every question.

At least it is all out there for people to judge. The sniping and the commentary can now stop.'

However, the interview could instead lead to even more legal scrutiny on the Duke.

Spencer Kuvin, a lawyer in the US who acted for three of Epstein's victims, said that no one fears Andrew.

He added that the interview could just strengthen the resolve of Epstein's victims against the Duke.

And senior lawyers have revealed that Andrew is not immune from prosecution or extradition to the US.

The prince has always rejected the claim by Epstein's most high-profile victim, Virginia Roberts – now Virginia Giuffre (pictured) – that he had sex with her three times, twice when she was just 17 and once around her 18th birthday

Anna Rothwell, a lawyer at Corker Binning, a leading criminal law firm in London, told the Times that Andrew was 'vulnerable to extradition' and his decision to give an interview was 'unwise'.

She said: 'He is not entitled to any form of immunity by virtue of his position as a member of the royal family.'

Dai Davies, the former royal protection officer, told the Mirror that Andrew displayed 'classic signs' of someone not telling the truth in the interview.

He also called called for a police investigation into the royal's friendship with Epstein.

The Queen's weekly visit to church came the morning after her second son Prince Andrew was slammed for a 'PR disaster' with BBC Newsnight presenter Emily Maitlis.

Attorney Lisa Bloom described the interview as 'deeply disappointing'

Piers Morgan led the fierce online backlash against Prince Andrew as he branded the Royal's car crash interview last night as 'desperate toe-curdling bulls***'.

The Good Morning Britain presenter, 54, heaped praise on Newsnight interrogator Emily Maitlis's 'brilliant forensic dissection', but questioned why the Duke of York agreed to be grilled for an hour on his friendship with paedophile billionaire Jeffrey Epstein.

He tweeted: 'This is one of the most astonishing interviews I've ever watched. Brilliant forensic dissection by @maitlis - desperate, toe-curling bulls*** from Prince Andrew. Why on earth did he do this? Insane.'

The 'no holds barred' interview saw the Prince quizzed on his relationship with Epstein - and he again denied ever having sex with the financier's 'sex slave' Virginia Roberts.

The Duke, 59, faced a flurry of questions about his links to the paedophile, who was found dead aged 66 earlier this year in a New York prison cell while being held on sex trafficking charges.

Andrew maintained he does not recall meeting Miss Roberts and did not spend time with her at Tramp Nightclub in London on March 10, 2001, after which she claims the pair first had sex.

He denied he slept with her on three separate occasions, saying the encounter in 2001 did not happen because he had taken his daughter Princess Beatrice to Pizza Express in Woking for a party, and they spent the rest of the day together.

But social media users were sceptical following the 9pm show on Saturday.

Showing her penchant for pearls, the Queen completed the look with a pearl drop earring, which perfectly complemented her patterned jacket

Always one to look prim and proper, the mother-of-four sported an immaculate make-up look, pairing a deep red lipstick with light foundation while keeping her hair in signature curls

Piers Morgan led the fierce online backlash against Prince Andrew as he branded the Royal's car crash interview last night as 'desperate toe-curdling bulls***'.

TV presenter Carol Vorderman tweeted: '#PrinceAndrew So I didn't speak to him for 4 years because it wasn't appropriate, but when he was released from prison for sex offences I didn't ring him..no.., I flew to America to tell him in person that I STILL wasn't going to talk to him...RUN THAT BY ME AGAIN.'

Rose McGowan, an actress and #MeToo movement figurehead, posted: 'Can Prince Andrew not remember Virginia Roberts, his accuser, because there were so many young girls? Am I hearing this right?'

Craig Meighan wrote: 'The Prince Andrew excuse: ''I couldn't have done the sweaty molesting because I wasn't sweating that year'' is absolutely astonishingly bad for an adult human.'

BBC presenter Jeremy Vine said he was 'struggling with the Woking angle?'