The SNP has called on the UK government to formally strip Prince Andrew of all his Royal titles.

The party’s Westminster leader, Stephen Flynn, has lodged a parliamentary motion that would force ministers to remove his dukedom with immediate effect.

The move follows days of revelations about the prince’s relationship with convicted sex offender Jeffrey Epstein.

It was announced on Friday that Prince Andrew was giving up all his titles, including the Duke of York and the Earl of Inverness, the name by which he has been traditionally known in Scotland.

He also gave up membership of the Order of the Garter, the oldest and most senior order of chivalry in Britain, although Buckingham Palace remains under pressure to take stronger action against him.

In all cases the removal of his titles and honours has been voluntary and they remain in abeyance, though not in use.

It is understood that the only legal way to remove Prince Andrew’s remaining titles is through an act of parliament.

Flynn has lodged an early-day motion, which is not binding on the government.

SNP Westminster leader Stephen Flynn MP said Westminster parties “remain stubbornly slow” in acting against the prince.

“Prince Andrew’s titles can only be removed by an act of parliament – therefore this SNP motion is a way to pile pressure on the UK Labour government to bring forward that legislation immediately,” he said.

“The only real question is, what Keir Starmer’s government is waiting for? The public knows this is the right thing to do, and even more importantly the victims at the heart of the Epstein scandal know that it’s the right thing to do. It needs to be done without any further excuses and any further delay.”

The SNP lodged a similar motion in September, aimed at removing the peerage of Lord Mandelson, who was sacked as ambassador to the USA when the extent of his friendship with Jeffrey Epstein was revealed.

“I sincerely hope for the sake of all Jeffrey Epstein’s victims, that Keir Starmer’s government changes course, supports this SNP motion and brings forward legislation to remove Prince Andrew’s titles and Peter Mandelson’s peerage, immediately,” Flynn added.

Prince Andrew stopped using the title His Royal Highness (HRH) in 2022, as he faced a US civil action over sexual assault allegations brought by Virginia Giuffre.

He has consistently denied the claims but settled the case with no admission of liability.

The latest revelations came ahead of the publication of Ms Guiffre’s memoir, which came out this week, six months after she took her own life.

In the book, Ms Giuffre says she had sex with Prince Andrew on three separate occasions, including once with Epstein and approximately eight other young women.

The UK government has indicated that it would not introduce legislation to strip Prince Andrew of his titles unless the King wanted it.

UK government Education Secretary Bridget Phillipson told the BBC’s Today programme: “We would be guided by the Royal Family in this and I imagine the royal family would want parliament to continue to dedicate our time to our wider legislative programme, but we will be guided by the monarch.

“It’s why we do support the statement that was issued and the action that has been taken. But of course, Prince Andrew holds the title of prince because he is the son of a monarch, and that’s the situation that we have.”

On Sunday, her cabinet colleague Ed Miliband said: “I think the Royal Family have said that they didn’t want to take up parliamentary time with this; there are lots of other things that parliament is discussing, I think it’s right he’s given up his title.”