In the course of a visit to Lichfield Cathedral on Monday, the King was shouted at by a man who questioned him about his brother's links with convicted sex offender Epstein.
The protester inquired how long the King had been known about his sibling's association with Epstein, and also raised doubts about whether he had instructed the police to "cover up" for Andrew.
Amid the protest, there were crowds of fans and applause for the monarch, who was in Staffordshire for an ceremony.
Prince Andrew's links with Jeffrey Epstein have been under renewed focus in recent weeks. The royal, who gave up his royal duties earlier this month, has categorically denied any misconduct.
"How long have you been aware about Andrew and Jeffrey Epstein? Did you request the police to conceal for Andrew?"
The monarch ignored the questions but carried on meeting fans, some of whom chanted "God Save The King". One supporter can be overheard asking him for a embrace.
Another woman outside the venue was also heard telling the protester to "go away" and to "shut up".
The scandal over the Duke of York's links to Jeffrey Epstein has been reignited by misconduct allegations detailed in Ms. Giuffre's recently released book.
In the publication, Ms Giuffre claims she had sexual encounters with the royal on three separate occasions, including once with Jeffrey Epstein and "several other minors"
Prince Andrew, who agreed to a financial settlement with the plaintiff in 2022, has consistently denied any misconduct. In 2019, he told a news program he did not recall meeting her "ever", and that they "did not have any sort of sexual contact."
But recently, fresh questions have been raised about how he is able to fund his way of life despite not being a active member of the royal family.
The disclosure that he has only ever paid a token annual rent on his Royal Lodge has intensified the scrutiny over his housing situation - even though he made large payments up front, including for renovations.
The political party said he should be called in before MPs to give evidence about his lease of his lodge.
But last week, the authorities refused to give MPs time to discuss the prince's titles or his home, despite growing pressure for scrutiny.
The royal household has not issued a statement on whether Prince Andrew might move out of his home - or where he might reside.
Lena Visser is a civil engineer and content writer specializing in foundation technology and sustainable construction practices.