He is relinquishing his honors, including the the Duke, he has declared in a individual message.
He has been under mounting attention over his associations with disgraced financier Epstein, with requests for the royal household to take measures against him.
That now appears to have caused the prince deciding to of his own accord give up his titles and to give up involvement of the prestigious order.
In his announcement he said he continued to "vigorously deny the allegations against me".
"In consultation with the sovereign, and my direct and broader family, we have concluded the ongoing allegations about me distract from the work of the monarch and the Royal Family," said a announcement from the royal.
"I have decided, as I always have, to put my duty to my relatives and country first.
"I support my choice five years ago to stand back from official duties.
"With His Majesty's consent, we think I must now go a additional measure. I will therefore no longer hold my honor or the distinctions which have been conferred upon me. As I have said earlier, I vigorously refute the claims against me."
Prince Andrew has faced a series of issues, including a lawsuit he ended with an accuser, doubts about his economic affairs and his involvement with an alleged Chinese spy.
He will remain a member of royalty - but will discontinue to be the York's Duke, a title bestowed from his parent, the Queen Elizabeth II.
Andrew had already stopped to be a "working royal" and had lost the use of his HRH title and no longer appeared at state occasions. His position now will be even more reduced.
His former spouse will be known as Sarah Ferguson and no longer the Duchess, but their offspring will persist to have the designation of princess.
The royal has faced strong examination over his connections with notorious figure Epstein, more recently involving doubts about when he had truly ended contact.
In his BBC Newsnight interview, he had said that he had ended all connections with Jeffrey Epstein after they had been pictured together in New York in late 2010.
But correspondence sent in February 2011 later emerged suggesting that he had privately stayed in contact with the financier, including exchanging a communication: "Stay in contact and we'll play some more soon!"
There had been increasing frustration in the monarchy at the scandals that remained to envelop the prince.
Soon a book released after death by Giuffre will be issued which is anticipated to draw additional focus on the royal's association with Virginia Giuffre and the financier.
