The woman who alleges she was trafficked to London to have sex with the Duke of York broke down as she described how "horrified and ashamed" she felt after sleeping with him.
Virginia Roberts Giuffre said she could not comprehend how it had been allowed to happen, branding it a "scary" and "wicked" time in her life.
"I had just been abused by a member of the Royal family, so when you talk about these chains, I wasn't chained to a sink, but these powerful people were my chains," she said.
She dismissed the Duke's denials as "ridiculous excuses" that he knew were untrue.
In her first UK television interview, broadcast last night, Ms Roberts Giuffre acknowledged that a "foggy memory" might mean she was sometimes wrong on dates or places.
But she told BBC One's Panorama: "One thing that I can tell you is you never forget the face of someone who has heaved over you."
The Duke claimed he had no recollection of meeting Ms Roberts Giuffre when interviewed by Emily Maitlis for the BBC's Newsnight and he categorically denied sleeping with her.
But in an emotional rebuttal, Ms Roberts Giuffre said: "The people on the inside are going to keep coming up with these ridiculous excuses. Like his arm was elongated or the photo was doctored, or, uh, he came to New York to break up with Jeffrey Epstein.
"I mean, come on. I'm calling BS [bulls---] on this, because that's what it is. He knows what happened. I know what happened, and there's only one of us telling the truth - and I know that's me."
The Duke's Newsnight interview was considered a disaster and resulted in him effectively being sacked as a working royal while charities and patronages flocked to end their association with him.
Ms Roberts Giuffre, who is now married and living in Australia, added: "I implore the people in the UK to stand up beside me, to help me fight this fight, to not accept this as being OK. This is not some sordid sex story. This is a story of being trafficked. This is a story of abuse and this is a story of your guys' royalty."
The 35-year-old claims she was trafficked to the UK in 2001 by Epstein and was forced to have sex with the Duke on three occasions in 2001 and 2002, when she was 17.
She was interviewed by Panorama several weeks before the Duke's interview was broadcast last month but was then reinterviewed for her response.
She provided a detailed account of the night she claims she slept with the Duke, alleging that it began with tea at Ghislaine Maxwell's house, where he spoke about his former wife, the Duchess of York, whom Ms Maxwell was "bad-mouthing".
"I was just sitting there like I was always told to do," she said. "Be polite and laugh at everything someone says when they're trying to be funny."
But when the group returned from a nightclub, she said she was asked to sleep with him, an episode she branded "disgusting".
"He wasn't mean or anything, but he got up and said thanks and walked out," she said.
"I sat there in bed and felt horrified and ashamed and dirty.
"I didn't expect it from royalty. I didn't expect it from someone people look up to and admire in the Royal family."
A photograph purports to show the Duke standing with his arm around Ms Roberts Giuffre’s waist in 2001.
In the background is Ghislaine Maxwell, his close friend, who has been accused of acting as a madam for Jeffrey Epstein, procuring young girls for him to abuse.
It was taken at her house in Belgravia where, on the same night, Ms Roberts Giuffre claims she was forced to sleep with the Duke.
In his interview, the Duke cast doubt on the veracity of the photograph, suggesting it may have been doctored.
He said he was wearing his “travelling clothes” in the picture whereas whenever he went out in London he wore a suit and tie, adding that he had never been upstairs in Ms Maxwell’s house.
He said he did not do public displays of affection.
Ms Roberts Giuffre poured scorn on any suggestions it had been faked, telling Panorama the picture was genuine and she had given the original to the FBI in 2011.
“I think the world is getting sick of these ridiculous excuses,” she said, adding that there was a date on the back from when it was printed.
Michael Thomas, the freelance photographer who copied the original picture, revealed it was found amid a pile of photographs Ms Roberts Giuffre handed him that looked like they had “come from Boots”.
An affidavit from a man Ms Roberts Giuffre was dating in 2001 reportedly confirms he saw the picture and that she told him she was forced to have sex with the Duke.
Another photograph unearthed by Panorama shows the Duke with Epstein and Ghislaine Maxwell at Ascot the previous year.
Ms Roberts Giuffre said that on arrival in London she was introduced to the Duke and then taken to Tramp nightclub in Mayfair with him, Epstein and Ms Maxwell.
She alleges they went into the VIP section and the Duke asked what she would like to drink.
“He had something clear. I know mine was vodka,” she said.
“And then he asked me to dance. He is the most hideous dancer I’ve ever seen in my life.”
On leaving the club, she claims Ms Maxwell gave her instructions.
"In the car Ghislaine tells me that I have to do for Andrew what I do for Jeffrey and that just made me sick,” she said.
The Duke said he could not have been at the club that night because he had taken his daughter, Princess Beatrice, to a party at Pizza Express in Woking, which he remembered because it was a “very unusual” thing for him to do.
He said he did not drink, had never bought a drink at Tramp and had no idea where the bar was.
Ms Roberts Giuffre said: “It was horrible and this guy was sweating all over me, like his sweat was raining basically everywhere.
“I was just like grossed out from it but I knew I had to keep him happy because that’s what Jeffrey and Ghislaine expected from me.”
The Duke said he did not sweat during that period due to a “peculiar medical condition” arising from an overdose of adrenaline he received during the Falkland’s War when he was shot.
Panorama revealed that lawyers for five of Epstein’s victims want the Duke to provide testimony in their court cases.
Pre-trial witness subpoenas have been prepared for all five cases and could be served on the Duke if he returns to the US.
The Duke said he would take legal advice but that if “push came to shove” he would testify under oath.
Sarah Ransome, another of Epstein’s victims, told the programme: “Ghislaine controlled the girls. She was like the Madam. She was like the nuts and bolts of the sex trafficking operation and she would always visit Jeffrey on the island to make sure that the girls were doing what they were supposed to be doing.
“She knew what Jeffrey liked. She worked and helped maintain Jeffrey’s standard by intimidation, by intimidating the girls, so this was very much a joint effort.”
Ms Maxwell’s whereabouts are unknown but she has previously denied any involvement or knowledge of Epstein’s abuse. Allegations against her were first made public in court documents in 2009, but the Duke has maintained their friendship and last saw her at Buckingham Palace in June.
Buckingham Palace said in a statement that the Duke had “consistently and emphatically denied any sexual contact or relationship with Virginia Roberts” and regrets his “ill-judged association” with Epstein.