The document, disclosed by a New York court, reveals the financier paid her $500,000 (£371,000) to end her claim.
Ms Giuffre is suing the Duke of York in a civil case for allegedly sexually assaulting her 20 years ago, when she was a teenager.
He has consistently denied the claims.
The document was released ahead of a critical hearing on Tuesday in the civil case involving Prince Andrew - and the interpretation of the settlement will form a central plank of the argument between the two sides.
