Prince Andrew has repeatedly and vehemently denied all of the claims made against him.
Maxwell also claimed that she had no memory of any wrongdoing taking place on Jefrrey Epstein’s properties, and said she learned of the paedophile’s crimes “like the rest of the world…in the papers”.
The British socialite, who is facing criminal charges in New York for allegedly aiding and abetting Epstein’s sexual abuse of teenage girls, made the comments during a July 2016 deposition for a defamation lawsuit brought against her by Ms Giuffre.
Asked if she tried to find out whether the allegations against Epstein were accurate, Maxwell was stopped by her lawyer from answering, in a transcript released late on Wednesday along with other documents pursued by the Miami Herald.
But she indicated that she left employment with the financier because she "ceased to be happy in the job and I ceased to be happy spending time with Mr Epstein".
She said he "became more difficult to work with", according to the transcript. Asked to be more specific, she said: "Just general. Just doesn't work."
In the first deposition, she denied introducing the Duke of York to under-age sex partners and said she could not recall taking Ms Giuffre out for a night of clubbing with Andrew in London.
She also said she had flown on Epstein's private planes with ex-president Bill Clinton but refused to describe Epstein and the Democrat as friends. Bill Clinton has not been accused of any wrongdoing.
In the second deposition, she was adamant she never saw Epstein getting massages from teenagers who were not yet adults.
"Did anyone ever complain to you that Mr Epstein had demanded sex of them?" lawyer David Boies asked.
"Never," Maxwell responded.
Maxwell, who has acknowledged being Epstein's girlfriend for a time in the 1990s, said she knew of only three women Epstein had sexual relations with at his properties in Manhattan, New Mexico, Florida, Paris and the Virgin Islands.
She said she knew he received massages at his property on the Virgin Islands because they occurred in the "master cabana" or on the beach, where anyone could see.
"I don't have any recollection of a specific memory, but it was just on the beach, so there wouldn't be any privacy," Maxwell said, though she added that she never arranged for any women who came to visit him to give him a massage.
At one point, Mr Boies said he needed "to ask you some questions about your sexual activities with Mr Epstein".
"OK," Maxwell responded. The next page of the transcript was blacked out.
Maxwell, 59, has been held without bail since pleading not guilty in July to recruiting girls for Epstein to abuse in the mid-1990s.
Epstein, a wealthy financier and convicted sex offender, killed himself in a Manhattan federal jail in August 2019 as he awaited a sex trafficking trial.