Epstein was a registered sex offender and died by apparent suicide last week while he was awaiting trial for sex trafficking and conspiracy charges.
Epstein, 66, killed himself August 11 while awaiting trial on charges of sex trafficking and conspiracy.
However that conviction was also shrouded in controversy, as he pleaded guilty in exchange for the justice department's agreement not to prosecute him on similar charges.
The UK's Prince Andrew has said he was "appalled" by allegations of sexual abuse surrounding Jeffrey Epstein after a video was released purporting to show him at the home of the convicted paedophile in 2010.
"Questions as to why he continued his friendship and association with someone like Jeffrey Epstein after he had been sent to prison, after he was placed on a sex offender register".
Epstein was accused of paying girls under the age of 18 to perform sex acts at his Manhattan and Florida mansions between 2002 and 2005.
The clip dates from around the same time Andrew was photographed walking through Central Park in NY with Epstein.
A USA judge struck from the record the allegations, saying that the "lurid details" were unnecessary in deciding a civil case concerning Epstein. "His Royal Highness deplores the exploitation of any human being and the suggestion he would condone, participate in or encourage any such behaviour is abhorrent", according to the statement released on Sunday.
One document repeated the allegation, which the Prince has always denied, that Andrew had sex with a 17 year old girl.
The duke quits his role as United Kingdom trade envoy after fallout from the the Central Park photos.
Buckingham Palace has said Guiffre's allegations are "false and without any foundation" and that any suggestion Andrew ever engaged in sex with underage minors is "categorically untrue".
The defamation case was brought by Virginia Giuffre, an alleged victim of Epstein, against socialite Ghislaine Maxwell, who was claimed to have introduced the prince to her friend Epstein, the BBC reported.
The American financier and billionaire was found dead at the New York Metropolitan correctional center (MCC) this month.