Britain's Prince Andrew has said he has no regrets about his friendship with the convicted paedophile Jefferey Epstein.

Prince Andrew's television interview on BBC's Newsnight was seen as the royal's attempt to draw a line under his controversial relationship with the disgraced financier, and to deny publicly claims he had underage sex with Virginia Giuffre, one of Epstein's victims.

However, he stated twice his relationship with Epstein, who died in jail while facing sex trafficking charges, had some "seriously beneficial outcomes" and it gave him the opportunity to meet people and help prepare for a future role as a trade envoy.

When asked by Newsnight presenter Emily Maitlis if he regretted the "whole friendship with Epstein", the duke replied: "Now, still not and the reason being is that the people that I met and the opportunities that I was given to learn either by him or because of him were actually very useful."

Prince Andrew also said that his continued relationship with Epstein after the 66-year-old's release from an 18-month prison term in 2010 for prostituting minors "let the side down" for the royal family.

He said: "I stayed with him ... and that's the bit that ... I kick myself for on a daily basis because it was not something that was becoming of a member of the royal family and we try and uphold the highest standards and practices and I let the side down, simple as that."

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

The same alleged sexual liaison, which the American said began with the royal sweating heavily as they danced at London nightclub Tramp, was factually wrong as the duke said he had a medical condition at the time which meant he did not sweat.

The duke said the whole episode had not been damaging to the Queen, only to himself, and that the wider royal family "couldn't be more supportive".

Public relations and crisis consultant Mark Borkowski said: "I have never seen anything so disastrous. For any students of PR that is how not to do it.

"It was like watching a man in quick sand and unfortunately, I don't think anyone would have thrown him a line to get him out."

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Prince Andrew has 'no recollection' of meeting Epstein accuser

Prince Andrew described social media as a "problem" of the 21st century during the interview, and he was mocked relentlessly online with many highlighting his mention of the pizza restaurant.

Earlier in the interview, Prince Andrew had said he was transitioning out of the Royal Navy and wanted to know more about the world of business as he would become the UK's special representative for international trade and investment.

Mrs Giuffre has alleged in court documents she "was forced to have sexual relations with this prince when she was a minor" in London and New York.

Later, when aged 18, she alleges they had sex again on a private Caribbean island owned by Epstein where an orgy took place.

Her allegations were struck from US civil court records in 2015 after a judge said they were "immaterial and impertinent".

Ms Maitlis quizzed the duke about the claims: "Are you saying you don't believe her, she's lying?"

The duke replied: "That's a very difficult thing to answer because I'm not in a position to know what she's trying to achieve, but I can tell you categorically I don't remember meeting her at all.

"I do not remember a photograph being taken and I've said consistently and frequently that we never had any sort of sexual contact whatever."