Pressure is mounting to formally strip Prince Andrew, brother of King Charles III, of his titles after Virginia Giuffre's posthumous memoir revealed disturbing new details about her sexual allegations against the royal, who she first met when she was 17.

In her book, Nobody's Girl, which was released on Tuesday, Giuffre, who died six months ago, details three alleged encounters with the prince, who last week said he would stop using his titles amid mounting pressure over his association with convicted sex offender Jeffrey Epstein.

Giuffre's book includes claims that Andrew considered it his "birth right" to sleep with her and that his team tried to hire "internet trolls" to harass her.

In August 2021, Giuffre's lawyers filed a lawsuit alleging, she wrote, "that Prince Andrew had raped and battered me when I was a minor, causing me severe and lasting damage".

Andrew has consistently denied all allegations against him. In 2019, Andrew told the BBC's Newsnight program he did not remember meeting Giuffre "at all", and that they "never had any sort of sexual contact".

Giuffre wrote that Andrew's 2019 BBC interview gave her legal team "jet fuel" for the lawsuit being prepared against him.

Technically, the prince retains his titles until they are formally removed by an Act of Parliament, and on Tuesday the Scottish National Party tabled a motion urging the United Kingdom government to legislate "without any excuses or further delay".

Co-writer of Nobody's Girl, Amy Wallace, told Newsnight on Monday she could speak for Giuffre regarding Andrew's decision to stop using his titles.

"I know that she would view it as a victory that he was forced by whatever means to voluntarily give them up," Wallace said.

Minister for Women and Equalities Jacqui Smith on Monday urged Andrew to disclose everything to United States prosecutors that he knows about his former friend Epstein, who died in prison in 2019 while awaiting trial in the US.

"I would say anybody in this situation should remember the victims and should be providing as much information as possible to enable those victims to get justice," Smith told LBC Radio.

Giuffre's memoir contains details about her encounters with Epstein and his former girlfriend, Ghislaine Maxwell, that led to her meeting Andrew for the first time.

Giuffre alleges Maxwell groomed her and introduced her to Andrew in London in 2001 and they went shopping, posed for a photo at Maxwell's flat, had dinner, and a trip to a nightclub, after which she says she was instructed to have sex with him for which he thanked her.

The second time that Giuffre alleged she and Andrew had sex was one month later in New York. She claims a third encounter took place on Epstein's Caribbean island of Little Saint James during an "orgy" with multiple girls who she believed were under 18.

Andrew's announcement last week has led to questions in the British media over whether he has the right to continue living at his massive Royal Lodge residence in Windsor.

Giuffre's brother called on London's Metropolitan Police to reopen their investigation into her allegations against Andrew, and said that if they did not, the UK police watchdog should review the decision.