'It's a joyous moment' - Brother of Prince Andrew accuser

Sky Roberts told BBC Newsnight the family has mixed emotions after the prince gave up his titles.

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"We have a shed a lot of happy and sad tears today. I think happy because in a lot of ways this vindicates Virginia", said Sky Roberts.

Prince Andrew has been under increasing pressure over his links with sex offender Jeffrey Epstein.

Ms Giuffre, who took her own life earlier this year, said that she was one of many vulnerable girls and young women who was sexually exploited by Epstein and his circle of wealthy connections.

She alleged that the prince had sex with her at his friend Ghislaine Maxwell's house in London in 2001, when Ms Giuffre was 17 years old, and on two more occasions.