Prince Andrew settled a lawsuit with a woman who claimed the royal had sex with her when she was a minor.
According to new legal docs, the Duke of York and Virginia Giuffre reached an out-of-court settlement after she brought suit against Andrew.
As we reported ... Giuffre claims Andrew had sex with her 3 times when she was still a minor -- in London, New York and the Virgin Islands -- but he categorically denied the allegations.
In the docs, Prince Andrew's legal team says he intends to make a "substantial donation" to Giuffre's charity in support of victims' rights. There are no specific financial details included in the docs.
There's a photo of Prince Andrew, Giuffre and Jeffrey Epstein associate Ghislaine Maxwell ... though Andrew says he doesn't recall taking the pic.
In the docs, Andrew says he regrets his association with Epstein and commends Giuffre and other survivors for their bravery in standing up for themselves and others.
The Duke's legal team says Andrew "pledges to demonstrate his regret for his association with Epstein by supporting the fight against the evils of sex trafficking, and by supporting its victims."