Prince Andrew of the United Kingdom has resolved a U.S. lawsuit filed by Virginia Giuffre accusing him of sexually assaulting her as a teenager, potentially sparing him further disgrace in a lurid case that contributed to his fall from power.

The settlement, which includes an undisclosed sum, was announced on Tuesday in a filing in federal court in Manhattan, where Giuffre had sued the Duke of York last August. In the settlement, the prince did not admit guilt.

Giuffre's case revolved around Andrew's friendship with the late Jeffrey Epstein, a banker and sex offender who she claimed sexually abused her. According to the filing, Andrew regrets his previous relationship with Epstein.
 

Lawyers representing Giuffre, 38, and Andrew, 61, claimed in a joint filing that their settlement in principle asks for the prince to make a "significant payment" to Giuffre's organization in favor of victims' rights.

"Prince Andrew has never intended to disparage Ms. Giuffre's character, and he accepts that she has suffered as an established victim of abuse as well as as a result of unwarranted public insults," according to the filing.

Andrew faces no criminal charges, and Giuffre's lawsuit will yield no results because it is a civil case.