Prince Andrew has been urged to talk to FBI investigators by the woman who alleges that she had sex with the royal after being trafficked by Jeffrey Epstein.

In a Twitter post today, Virginia Giuffre called on the prince come forward and be interviewed about his friendship with convicted sex offender Epstein, who committed suicide in jail while facing sex trafficking charges.

The prince has categorically denied that he has had any form of sexual contact or relationship with Ms Giuffre.

US lawyer Geoffrey Berman, who is leading the Epstein inquiry, told a news conference in New York on Monday that the prince had “provided zero cooperation”.

The New York state attorney claimed Andrew’s lawyers had already been contacted by prosecutors and the FBI as part of the probe.

But a few days later the prince was reported to be “angry and bewildered” at the claims by the US authorities, with the Telegraph quoting a source as saying: “The duke is more than happy to talk to the FBI but he hasn’t been approached by them yet.”

Andrew stepped down from royal duties in November following a disastrous Newsnight interview about his friendship with Epstein and said during the programme: “I am willing to help any appropriate law enforcement agency.”