The Duke of York's lawyers have been hoping the document could be key to ending her lawsuit against him which is due to come to court tomorrow. The document reveals the terms of a $500,000 (￡371,207.50) payout from Epstein's estate to Ms Roberts Giuffre who was abused and trafficked by the multimillionaire.
Ms Giuffre is suing the Duke of York for allegedly sexually assaulting her when she was a teenager, claims which he has strongly and repeatedly denied.
A New York judge has been hearing arguments on whether to dismiss her civil lawsuit, which is seeking unspecified damages.
The 2009 deal details how all other "potential defendants" are excused from "all manner of action and actions of Virginia Roberts", the documents show, but does not mention Prince Andrew by name.
Ms Giuffre's settlement had been kept under seal, but in December judges ordered it to be released today unless good cause could be shown otherwise.
The Duke's lawyers maintain that a clause in the agreement precludes him from being sued by Ms Giuffre.
Ms Giuffre claims she was trafficked by Epstein to have sex with the Duke of York when she was 17, a minor under US law.
She was pictured with the royal and Ghislaine Maxwell during the period the alleged intercourse took place.
The duke's lawyers have argued the deal releases him from liability because it covers "royalty" and that Epstein had insisted it applied to anyone who Ms Giuffre might sue.
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But Ms Giuffre's lawyers say the agreement applies at most to people involved in underlying litigation in Florida so excluding Prince Andrew.
They have said he should not use the 2009 agreement as a get out of jail free card.
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