During a visit to a cathedral in Staffordshire on Monday, the King was shouted at by a protester who questioned him about Prince Andrew's connections with disgraced financier Epstein.
The individual demanded to know how long the King had been aware about his brother's association with Jeffrey Epstein, and also raised doubts about whether he had instructed the authorities to "hide" for Prince Andrew.
Amid the heckling, there were throngs of supporters and applause for the King, who was visiting Staffordshire for an ceremony.
The Duke of York's associations with Epstein have been under renewed focus in recent weeks. The royal, who relinquished his royal duties earlier this month, has repeatedly denied any wrongdoing.
"How long have you known about Prince Andrew and Jeffrey Epstein? Have you asked the police to conceal for Andrew?"
The monarch remained silent but continued greeting supporters, some of whom chanted "Long live the King". One fan can be heard asking him for a hug.
A female bystander outside the cathedral was also heard telling the protester to "go away" and to "shut up".
The scandal over the Duke of York's connections to Epstein has been brought back into focus by sexual abuse allegations repeated in Ms. Giuffre's posthumously-published memoir.
In the publication, the accuser alleges she had sexual encounters with the royal on multiple times, including once with Epstein and "eight other young girls"
Andrew, who reached a out-of-court agreement with Ms Giuffre 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 intimate relations."
But recently, new inquiries have been asked about how he is able to fund his lifestyle despite not being a active member of the royal family.
The revelation that he has only ever paid a token annual rent on his Windsor mansion has intensified the scrutiny over his living arrangements - even though he made significant contributions up front, including for improvements.
The Liberal Democrats said he should be summoned front of MPs to give testimony about his lease of his lodge.
But last Thursday, the authorities refused to give parliamentarians time to debate 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 current residence - or where he might go.
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