Virginia Guiffre accuses the Duke of sexual abuse and is suing him for unspecified damages.
On Monday, the 2009 civil settlement Guiffre reached with Andrew's former friend - the sex offender Jeffrey Epstein - was made public.
In the text, she agrees to restrictions on her ability to sue others connected to Epstein.
The deal also provided for Giuffre, also known as Virginia Roberts, to be paid $500,000.
Andrew has denied the accusations against him and said Giuffre's deal with Epstein shields him from any liability.
It will now be up to a U.S. District Judge in New York to determine whether that's the case.
A hearing over Andrew's motion to dismiss the civil lawsuit is scheduled for Tuesday.
Guiffre alleges she was trafficked to the Prince when she was a teenager by Epstein and the British socialite Ghislaine Maxwell.
She says she was forced to have sex with the prince at Maxwell's London home and at two of Epstein's homes.
Epstein killed himself in a Manhattan jail cell in 2019 while awaiting trial on sex abuse charges.
Maxwell was convicted last week of recruiting and grooming girls for Epstein to abuse.
