Ms Giuffre has alleged that she was forced on three occasions to have sex with Prince Andrew, which he denied.
On the wake of Epistein’s death a woman who accused him of sexual abuse urged Prince Andrew to plead guilty for forceful sex allegation.
Speaking after a hearing for alleged victims, Virginia Giuffre told reporters that the price knows what he has done to a 17-year old.
The Duke of York, Price Andrew Albert Christian Edward has previously denied these claims.
Jeffrey Edward Epstein, a 66-year-old tycoon and convicted sex offender, who was known to be friends with US President Donald Trump, former US President Bill Clinton and the Duke of York Prince Andrew as friends
A coroner diclared him to have killed himself in his prison cell on August 10 while while awaiting trial on sex trafficking and conspiracy charges.
At the New York City court hearing about 15 plaintiffs had spoken in the criminal case which is now closed because of Epstein's death.
The women spoke of their anger, saying Epstein had cheated justice by taking his own life.
Prosecutors said the investigation was ongoing and charges could still be brought against any co-conspirators.
What did Ms Giuffre say?
Ms Giuffre, 35, has alleged she was forced on three occasions to have sex with Prince Andrew, which he denied.
She has accused Epstein of keeping her as a "sex slave". In court on Tuesday, she said: "My hopes were quickly dashed and my dreams were stolen."
Ms Giuffre has said in a court deposition she was a 15-year-old working at Mr Trump's Mar-a-Lago golf resort in Florida when she was approached by British socialite Ghislaine Maxwell to give massages to Epstein.
When asked for a comment on Prince Andrew during a news conference after the hearing, Ms Giuffre said: "He knows what he's done and he can attest to that. He knows exactly what he's done and I hope he comes clean about it."
The prince has said it was "a mistake and an error" to see Epstein after his release from prison, and that he never saw or suspected criminal behaviour.
What did the other accusers say?
Courtney Wild, who has alleged Epstein sexually abused her when she was 14, told the court on Tuesday: "I feel very angry and sad. Justice has never been served in this case."
Ms Wild, who says she was recruited to be a masseuse for Epstein on his private plane dubbed "the Lolita Express", called him a "coward" who was able to "manipulate our justice system".
Jennifer Araoz, who says Epstein raped her at his New York mansion when she was 15, told the court: "He robbed me of my dreams, of my chance to pursue a career I adored.
"The fact I will never have a chance to face my predator in court eats away at me. They let this man kill himself and kill the chance for justice for so many others."
Another woman, Chauntae Davies, told the court: "I will not let him win in death."
Ms Davies said she was raped by Epstein on his private island after being hired to give him massages.
Another woman, who chose to withhold her name, fought back tears as she told the court: "We do need to know how he died. It felt like a whole new trauma. It didn't feel good to wake up that morning and find that he allegedly committed suicide."
A number of accusers have filed lawsuits against Epstein's estate. Two days before his death, he signed a will funnelling his $577m (£475m) in assets to a trust fund.