A lawyer for Andrew did not immediately respond to a request for comment on Tuesday.
In a joint statement from Andrew and Ms. Giuffre last month, Andrew said he planned to make a “substantial donation” to Ms. Giuffre’s charity, which helps survivors of sex trafficking.
Andrew has repeatedly denied Ms. Giuffre’s accusations. In the statement last month, he said that he “never intended to malign Ms. Giuffre’s character” and that he accepted “that she has suffered both as an established victim of abuse and as a result of unfair public attacks.” He also said he regretted his association with Mr. Epstein.
The stipulation for dismissal, which was signed by Judge Lewis A. Kaplan on Tuesday, resolved a lawsuit filed by Ms. Giuffre last year against Andrew, accusing him of sexually abusing her when she was 17, according to the complaint.
After the lawsuit was filed, Andrew was forced to relinquish his military titles and royal charities, lost his use of the title His Royal Highness and was “not to undertake any public duties,” Buckingham Palace said in a statement in January.
In the lawsuit, Ms. Giuffre also claimed that Andrew, Mr. Epstein and Mr. Epstein’s longtime companion, Ghislaine Maxwell, forced her to have sexual intercourse with Andrew at Ms. Maxwell’s home in London. Ms. Giuffre said in the lawsuit that she feared disobeying them because of their “powerful connections, wealth and authority.”