He said it also shows him wearing "travelling clothes", noting he typically wears a suit and tie when he goes out in London, where the photograph purportedly was taken.
Ms Maitlis said no questions had been vetted before the prince was interviewed for the "no holds barred" programme.
Prince Andrew has been on the ropes over his relationship with convicted sex offender Jeffrey Epstein, who killed himself in prison in August while awaiting trial on fresh sex-trafficking and conspiracy charges.
Maitlis also pressed the prince on why he stayed at Epstein's mansion in NY for several days in 2010 after Epstein was convicted, even as he said the goal of the trip was to cut ties with the wealthy financier.
"This first came out in 2011.It was a surprise to all of us because the photographs were published at a different time to when I was there.as a family we discussed it", he said.
"But at the time I felt it was the honorable and right thing to do, and I admit fully that my judgment was probably colored by my tendency to be too honorable, but that's just the way it is", he said.
Ms Roberts-Giuffre has claimed they went on to have sex on two other occasions which he denies.
Sarah Ferguson, Andrew's ex-wife and the mother of his two daughters, defended the embattled royal ahead of Saturday's interview broadcast.
Giuffre has said, according to court documents, that she had been ordered to have sex with Andrew by Epstein's former girlfriend and longtime friend Ghislaine Maxwell.
Trump says transcript of "second" Ukraine call will "probably" be released Tuesday
Giuliani, as a US citizen, has First Amendment rights to say whatever he wants, but he's a private citizen", Kent said. Trump has repeatedly accused the Bidens of unspecified "corruption" due to that relationship.
Indian court rules in favor of Hindus in explosive row with Muslims
The unanimous decision by five judges led by Chief Justice Ranjan Gogoi disappointed some Muslims while Hindus rejoiced. He further said that no mosque can be built or namaz can be offered on any disputed land.
Kawhi Leonard on National Basketball Association revealing details of his injury: 'Shocking'
Leonard was California dreaming all along and doesn't regret his decision to go home. "I'm able to see my family after the games". However, the Los Angeles Clippers superstar denied holding any animosity toward the Raptors immediately after the deal.
Giuffre has produced a photo showing her posing with the prince in London and recently challenged the British royal to speak out, telling reporters: "He knows exactly what he's done, and I hope he comes clean about it".
Andrew also faced questions over staying with Epstein at his Manhattan townhouse shortly after his release from prison.
After a series of unexpected statements denying the allegations this is a dramatic step from a member of the Royal Family.
Fox News Correspondent Bryan Llenas reports on how the executors of Jeffrey Epstein's estate is trying to establish an abuse victims fund to compensate them.
"I've said consistently and frequently that we never had any sort of sexual contact whatever".
Even some who closely follow the royal family, such as the editor of the Royal Central website, offered more shock than sympathy.
She was referring to photographs of Andrew at Epstein's NY mansion in 2010, not long after Epstein was released from prison, where he had been serving time for multiple sex offenses.
Piers continued: "Brilliant forensic dissection by @maitlis - desperate, toe-curling [bleep] from Prince Andrew".
"There's a slight problem with the sweating because I have a peculiar medical condition which is that I don't sweat or I didn't sweat at the time and that was...was it...yes, I didn't sweat at the time because I had suffered what I would describe as an overdose of adrenalin in the Falkland's War when I was shot at and I simply...it was nearly impossible for me to sweat", he said.
PR guru Jason Stein started as the prince's communications secretary in September amid allegations that Prince Andrew had slept with American woman Virginia Giuffre when she was 17 - something the prince denied in the BBC interview. "That's the very first time I met him".