In response to the excerpts of Ms Giuffre's interview, a Buckingham Palace spokeswoman said: "It is emphatically denied that the Duke of York had any form of sexual contact or relationship with Virginia Roberts".
A Panaroma programme entitled The Prince and the Epstein Scandal will see the American tell her story and reveal new details about her time with Epstein, the BBC said.
Epstein was found hanging in his cell from an apparent suicide while awaiting sex trafficking charges in NY in August. The FBI and the Department of Justice's inspector general are investigating the circumstances of his death.
During a November 17 BBC interview with Newsnight's Emily Maitlis, the royal said he didn't remember meeting Giuffre or taking the photo where he's seen with his arm around her waist.
Prince Charles is planning to strip again the royal household to simply him, William, Harry, their wives and kids when he turns into king in wake of Prince Andrew's Jeffrey Epstein scandal.
Adding credence to the theory that Charles hopes for less royals representing the family in an official capacity is The Times of London's report that it was Charles who urged Queen Elizabeth to strip his younger brother of official duties following his interview about his ties to Jeffrey Epstein.
"It was awful 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".
Prince Philip withdrew from public duties when he turned 95 and Her Majesty will turn the same age in 18 months.
"The Prince and the Epstein Scandal" will air on BBC One at 4 p.m. ET on December 2.
Prince Andrew, the Duke of York, talks in Victoria, B.C., on Sunday, May 19, 2013.
She said that later that evening, she had sex with Prince Andrew upstairs at Maxwell's house in Belgravia.
Tonight's episode of Panorama will be Ms Giuffre's first major United Kingdom television interview since she claimed to have been sexually exploited by Andrew three times when she was a teenager.
But tonight's BBC Panorama investigation found that Roberts then-boyfriend Tony Figueroa said he saw the picture in the year it was taken - 2001 - and that Ms Roberts told him she had been forced to have sex with the prince.
Andrew, the eighth in line to the throne, said he could not have had sex with Ms Giuffre on the night she alleges because he had been to a pizza restaurant in the commuter town of Woking for a children's party.
"He is the most disgusting dancer I've ever seen in my life", Mrs Giuffre said. I mean, is he ever going to?
"It's a sign of how bad things are for Prince Andrew and his reputation that he has chosen to give an interview like this".
He later said he deeply sympathised with sex offender Epstein's victims and everyone who "wants some form of closure".