Giuffre sued the Duke of York last August, alleging he battered her while the late financier and convicted sex offender Jeffrey Epstein was trafficking her.
In a joint court filing, lawyers for Giuffre and Andrew said the settlement includes an undisclosed sum and that Andrew intends to make a substantial donation to Giuffre's charity in support of victims' rights.
"Prince Andrew has never intended to malign Ms. Giuffre's character, and he accepts that she has suffered both as an established victim of abuse and as a result of unfair public attacks," the filing said.
"Prince Andrew regrets his association with Epstein, and commends the bravery of Ms. Giuffre and other survivors in standing up for themselves and others," the filing added.
"He pledges to demonstrate his regret for his association with Epstein by supporting the fight against the evils of sex trafficking, and by supporting its victims."
Andrew, 61, has denied Giuffre's accusations that he forced her to have sex more than two decades ago at a London home of former Epstein associate Ghislaine Maxwell, and abused her at two Epstein properties.
Giuffre, 38, has been one of Epstein's and Maxwell's most prominent accusers. A spokeswoman for the prince said she had no comment beyond the court filing.
Epstein killed himself at age 66 in a Manhattan jail cell in August 2019 while awaiting trial on sex trafficking charges.
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