Giuffre has claimed that Maxwell recruited her to serve as a traveling masseuse for Epstein after spotting her working a summer job as a locker room attendant 20 years ago at Mar-a-Lago, President Trump's private Palm Beach estate.
The Maxwell deposition document is more than 400 pages.
Many names in the transcript of the deposition were blacked out. Her lawyers have said the fact the questions were asked could suggest to the public that Giuffre's lawyers believed they might have had a basis to ask them, even if the conduct never happened.
"There were times when I would have liked to think of myself as his girlfriend", she said.
A federal appeals court upheld a decision from a lower court that the deposition given by the 58-year-old socialite and associate of disgraced financier Epstein should be made public.
U.S. District Judge Loretta Preska ordered the documents released back in July. She pleaded not guilty and was ordered jailed pending trial.
"The unsealing of this transcript has resulted in the public dissemination of salacious questions and answers that can linger in the minds of potential jurors", said Brian McMonagle, a criminal defense lawyer in Philadelphia who is not involved in the case.
Epstein died past year in a NY detention center after being charged with sex trafficking in what was ruled a suicide.
Maxwell's lawyers did not immediately respond to a request for comment. They have not been accused of criminal wrongdoing.
Ms Giuffre alleges that Ms Maxwell recruited her, and says Epstein kept her as a "sex slave" with Maxwell's assistance.
- She denied that Clinton had ever visited Epstein's Caribbean island, nicknamed by locals as "Pedo island". However, federal prosecutors claimed Maxwell may have perjured herself during the testimony.
"I'm a very loyal person and Jeffrey was very good to me when my father passed away", she said.
The transcript is finally being unsealed after a back-and-forth legal battle between Maxwell and Virginia Giuffre, who has accused Maxwell, Epstein and others of sexually abusing her when she was a minor. She also was responsible for managing Epstein's various households - including his Florida home. "I can not tell you what Jeffrey's story is", she said when asked whether "Jeffrey Epstein had a sexual preference for minors".
Maxwell, daughter of the late British publisher Robert Maxwell, was asked questions about her relationship with Epstein, who employed her to help run his properties, and allegations by Giuffre, according to the transcript.
Maxwell also testified that she flew on Epstein's planes with Clinton, but wouldn't characterize the men as friends or acquaintances.
"All the time that I have been in the house I have never seen, heard, nor witnessed, nor have reported to me that any activities took place, that people were in distress, either reported to me by the staff or anyone else", she said. "Absolutely 1000% that is a flat out total fabrication and lie".
Jeffrey Epstein died in a Manhattan jail last August, with his death ruled a suicide.