The officer, whose identity has not been revealed, said he remembered an incident when the duke pulled up at the Palace’s North-Centre Gate in the early hours of the morning.
He said the date would have been about March 11, 2001, but to be certain he would need to see the protection officer duty roster for that month.
Scotland Yard has refused to publish the logs and the officer is now looking to use Freedom of Information laws.
The former Royal Marine, who served with the Metropolitan Police for 23 years, told The Mail on Sunday: “I believe I have a right to know my own shift patterns.”
Roberts Giuffre claims she had sex with the duke three times, first in London in March 2001, a month later at Epstein’s New York town house and a third time on the billionaire’s private Caribbean island. She claims she was coerced into having sex with Andrew at Maxwell’s London home after they had all visited Tramp nightclub.
But the duke has insisted he had no recollection of ever meeting her. In his interview with Emily Maitlis on the BBC’s Newsnight program in November, he said the night on which he was alleged to have met her he was with his children.
But the officer said he recalled an incident in early 2001 when the duke clashed with royal protection officers at Buckingham Palace after returning home late to find the gates locked.
He said: “The reason the incident is so unusual is because firstly Prince Andrew was on the police radio in the car and secondly because he was shouting abuse through the radio.
“The abuse was phrases such as, ‘Open these bloody gates you buffoons, get these bloody gates open.’ He was not swearing but using abusive language in a raised voice.
“I found the experience belittling. All my colleagues would have heard it, including those in the control room.”
The officer said that, if the date in question was confirmed to be March 11, 2001, it would dismantle the duke’s alibi.
A Scotland Yard spokesman said: “The ex-officer is entitled to submit his subject access request, which will then be considered. We are not prepared to discuss records that we may or may not hold regarding matters of protection.”
Meanwhile, a telephone engineer who used to work on Epstein’s private island has said he believes he saw the duke with Roberts Giuffre.
Steve Scully, 70, said the duke was with a bikini-clad blonde girl when he spoke to him on the island of Little St James between 2001 and 2004.
A Buckingham Palace spokesman declined to comment but has previously emphatically denied that the duke ever had any form of sexual relationship with Roberts Giuffre.
In an interview with the BBC’s Panorama program in December, Roberts Giuffre poured scorn on Andrew’s suggestion a photo of the pair had been faked, saying the picture was genuine and that she had handed the original to the FBI in 2011.
The Telegraph, London, with smh.com.au