In the course of a visit to Lichfield Cathedral on Monday, the King was confronted by a individual who questioned him about his brother's relationship with convicted sex offender Jeffrey Epstein.
The man asked how long the monarch had been aware about his sibling's relationship with Epstein, and also questioned whether he had instructed the authorities to "hide" for Prince Andrew.
Despite the protest, there were throngs of supporters and cheers for the monarch, who was in Staffordshire for an engagement.
Prince Andrew's connections with Epstein have been under renewed focus in the past few weeks. The royal, who relinquished his titles earlier this month, has categorically denied any misconduct.
"For how long have you known about Andrew and Jeffrey Epstein? Did you request the authorities to conceal for Andrew?"
The monarch ignored the questions but carried on meeting supporters, some of whom chanted "God Save The King". One supporter can be overheard asking him for a hug.
Another woman outside the venue was also heard telling the protester to "leave" and to "be quiet".
The scandal over Prince Andrew's links to Jeffrey Epstein has been revived by misconduct allegations repeated in Ms. Giuffre's posthumously-published memoir.
In the memoir, Ms Giuffre says she had sexual encounters with the prince on multiple times, including one instance with Epstein and "eight other young girls"
Andrew, who agreed to a financial settlement with the plaintiff in 2022, has repeatedly denied any wrongdoing. In a previous interview, he told a news program he did not recall meeting Ms Giuffre "at all", and that they "did not have any sort of sexual contact."
But recently, fresh questions have been asked about how he is able to fund his way of life despite not being a active member of the royal family.
The revelation that he has only ever paid a token annual rent on his Royal Lodge has heightened the examination over his living arrangements - even though he made significant contributions up front, including for improvements.
The political party said he should be summoned before members of parliament to give evidence about his lease of his residence.
But last week, the authorities refused to give MPs time to discuss the royal's titles or his residence, despite increasing calls for scrutiny.
Buckingham Palace has not issued a statement on whether the Duke of York might move out of his current residence - or where he might reside.
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