In preparation for the one-hour special on BBC One next Monday, which was recorded before Andrew's interview was aired, Roberts tells her side of the story which includes alleging that she slept with the prince multiple times.
"FOX Business" David Asman discusses the royal family and Prince Andrew not being invited to the Queen's North Atlantic Treaty Organisation reception with President Trump and other world leaders.
However, with her husband, Prince Philip, having retired from royal duties at 95, plans were afoot for a transition for the Queen as Prince Charles and younger members of the Royal Family take on more responsibility.
However he added it would be "a sad day if we had to part ways because then there will be a lot of women who would lose their cover because we would no longer be able to provide them that support".
"He knows what happened, I know what happened and there's only one of us telling the truth", she says.
Epstein died August 10 after being found unconscious in a Manhattan jail cell, where he was awaiting trial on federal sex trafficking charges.
A general view of the Pizza Express restaurant in Woking, Surrey, following Prince Andrew's Saturday night interview with the BBC's Newsnight.
The prince said he deeply sympathised with Epstein's victims and "everyone who has been affected and wants some form of closure" in a statement.
Philip is said to be furious at Andrew, along with his son's ex-wife, Sarah Ferguson, who reportedly encouraged the Duke of York to go ahead with his own BBC interview that was widely deemed a "car crash" disaster for him.
Prince Andrew, right, had plunged the Royal Family into a scandal that shows no signs of easing, says Russell Myers.
Commander Alex Murray said that after taking legal advice, "it was clear that any investigation into human trafficking would be largely focused on activities and relationships outside the UK".