She claimed that Maxwell and two "young girls" from NY were also on the island when Clinton visited with Epstein. Prosecutors said she also joined in the abuse.
Giuffre spoke to "CBS This Morning" co-host Gayle King in July, and told her "you couldn't say no" to Epstein and Maxwell from her position because "you're afraid for your life". Maxwell is now awaiting trial in NY, charged earlier this month with sex trafficking of underaged girls with Epstein and perjury.
"You have done nothing wrong and I would urge you to start acting like it", Epstein wrote on January 25, 2015, as more allegations of sexual abuse against him surfaced.
Two of Epstein's victims, known as Jane Doe 1 and Jane Doe 2, claim Epstein depended on high-profile friends like Prince Andrew to secure a favourable sentence from the USA attorney in South Florida in 2008.
Facing up to 35 years in prison if convicted, she is now being held in a federal jail in Brooklyn while awaiting trial; she has pleaded not guilty.
She pleaded not guilty to those charges and denies the allegations.More news: Why Osimhen signed for Napoli despite ‘racism fear’
Maxwell wrote to Epstein that she would "appreciate" if a woman named "Shelley" would "come out and say" she had been Epstein's girlfriend.
Maxwell's lawyers repeatedly had tried to block their release, arguing that they could prejudice her trial.
Ms Giuffre over the years has told her story to the Federal Bureau of Investigation, but no charges were brought based on her allegations and she is not one of the three alleged victims in the current criminal case against Ms Maxwell. She's the one who abused me on a regular basis. She's the one that procured me, told me what to do, trained me as a sex slave, abused me physically, abused me mentally.
The royal vehemently denies this.
Her lawyers said they should be blocked since she now faces criminal charges.
Prince Andrew allegedly lobbied the USA government on Jeffrey Epstein's behalf so he would receive a "favourable" plea deal for an underage prostitution case in 2008, according to newly-released court documents.More news: Supreme Court Justice Ginsburg receives treatment in New York hospital
All have denied the allegations, which are not new.
They included a deposition in which Giuffre described the alleged abuse, and also answered questions about errors she'd made previously in telling her story, including originally telling a court she was 15 when she met Epstein, when records showed she was at least a year older.
The names of several other men are redacted in the documents.
She recalls how she was recruited by Maxwell while working at Trump's Mar-a-Lago estate around 2000.
While Epstein's death was ruled a suicide, it fueled conspiracy theories, most speculating he was murdered to stop him from revealing compromising information about famous acquaintances.
Maxwell's lawyers have long fought to keep the documents under seal, claiming they could harm the reputations of high-profile people.More news: Judge bans lawyers from identifying Epstein abuse victims