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Prince Andrew "will feel he is off the hook", according to a royal expert, after the FBI announced it has officially ended its investigation into his links to the late paedophile Jeffrey Epstein.

Andrew, 65, has repeatedly and vehemently denied the claims but later settled a lawsuit against the late Virginia Giuffre (formerly Roberts) for an undisclosed sum, without accepting any liability. However, his links to Epstein led to him stepping down as a senior working royal in 2019.

Ms Giuffre - who was one of the most prominent accusers of convicted sex offender Jeffrey Epstein - sadly took her life at her farm in Western Australia back in April.

Speaking to Newsweek, royal biographer Nigel Cawthorne said Andrew would be able to breathe a sigh of relief at the news, having never been charged.

He told the publication: "He's off the hook isn't he. The whole thing's run out of steam."

According to a new two-page memo from the FBI, investigators "did not uncover evidence that could predicate an investigation against uncharged third parties."

It added that "perpetuating unfounded theories about Epstein serves neither justice nor the victims," and says that one of the government's highest priorities remains "combatting child exploitation and bringing justice to victims."

Officials went on to say that claims of its existence were based on "unfounded theories," many of which were spread by political allies of US President Donald Trump, once a close friend of Epstein.

As part of its conclusions, the Department of Justice is set to release hours of CCTV footage from the paedophile's final days.

Aged 66, Jeffrey Epstein took his life in prison in August 2019.