Prince Andrew's accuser Virginia Giuffre is set to reveal more details about her allegations against the embattled Royal, with a trailer released today ahead of her BBC interview on Monday.

Key points: Virginia Giuffre says when she was associating Prince Andrew "it was a really scary time" of her life

Virginia Giuffre says when she was associating Prince Andrew "it was a really scary time" of her life She claims she first had sex with Prince Andrew when she was 17 years old

She claims she first had sex with Prince Andrew when she was 17 years old Her interview on the sex allegations will air in the UK at 8:00am on Tuesday AEDT

"It was a really scary time in my life," Ms Giuffre told the interviewer.

"He [Prince Andrew] knows what happened, I know what happened, and there's only one of us telling the truth."

Ms Giuffre, who was known as Virginia Roberts at the time, has said she was trafficked by convicted sex offender Jeffrey Epstein and had sex three times with Prince Andrew, starting in 2001, including once in London.

Now 36, she said she was 17 years old when they first had sex.

Prince Andrew with Virginia Giuffre, then known as Virginia Roberts. ( Supplied )

Prince Andrew "categorically" denied the allegations in an hour-long interview with the BBC's Newsnight program two weeks ago, saying he had "no recollection" of having met Ms Giuffre.

The Royal used the interview to cast doubt on the veracity of a photo that showed him with his arm around a then 17-year-old Ms Giuffre, describing it as "a photograph of a photograph of a photograph".

"Nobody can prove whether or not that photograph has been doctored but I don't recollect that photograph ever being taken," he told the BBC.

The fallout from the interview prompted the Prince to "step back" from public life.

It comes after the UK's Metropolitan Police Service said today it would not reopen an investigation into an "allegation of non-recent trafficking for sexual exploitation" it received from Ms Giuffre in 2015.

Metropolitan Police Commander Alex Murray said police concluded in 2016, after looking into the matter and consulting prosecutors, that it was the wrong agency to investigate.

"Following the legal advice, it was clear that any investigation into human trafficking would be largely focused on activities and relationships outside the UK," he said.

He said the decision was reviewed after Epstein's death and police decided not to change policy.

Epstein, a wealthy financier, died in prison in August in what the New York City coroner ruled as a suicide. He faced trafficking charges.

The Prince and the Epstein Scandal will air on Monday in the UK at 9:00pm local time (8am Tuesday AEDT).

Prince Andrew spoke to Emily Maitlis about his relationship with Jeffrey Epstein on the BBC earlier this month. ( BBC )

ABC/AP