Britain's Prince Andrew must make himself available to answer questions under oath by 14 July next in a civil lawsuit by a woman who accuses him of sexually abusing her when she was a teenager.

US District Judge Lewis Kaplan in Manhattan set the deadline to complete depositions in a scheduling order agreed to by lawyers for Andrew and Virginia Giuffre, his accuser.

The 38-year-old has said the Duke of York forced her to have sex approximately two decades ago at the London home of late financier Jeffrey Epstein's longtime associate, Ghislaine Maxwell.

She also accused the 61-year-old prince of abusing her at Epstein's mansion in Manhattan, and on Epstein's private island in the US Virgin Islands.

Andrew has not been charged with any crimes, and has "categorically" denied Ms Giuffre's claims.

His legal team is expected to review a 2009 settlement agreement between Ms Giuffre and Epstein, whom she also accused of abuse, to determine whether it shielded their client from Ms Giuffre's claim.

Prince Andrew has a 29 October deadline to formally respond to Ms Giuffre's lawsuit, which seeks unspecified damages.

A court conference is scheduled for 3 November, and Ms Giuffre has until 15 Decemeber to amend her complaint if she wishes.

Epstein, a registered sex offender, died in a Manhattan jail in August 2019 while awaiting trial on sex trafficking charges.

Ms Maxwell faces a scheduled 29 November trial in Manhattan on charges she helped recruit and groom underage girls for Epstein to abuse. She has pleaded not guilty.