During a visit to Lichfield Cathedral on Monday, the King was shouted at by a man who questioned him about his brother's connections with convicted sex offender Jeffrey Epstein.
The individual asked how long the King had been known about his sibling's association with Epstein, and also raised doubts about whether he had instructed the authorities to "cover up" for Andrew.
Despite the heckling, there were large groups of fans and cheers for the King, who was visiting the region for an ceremony.
Prince Andrew's links with Epstein have been under renewed focus in the past few weeks. The royal, who gave up his titles earlier this month, has categorically denied any misconduct.
"How long have you been aware about Prince Andrew and Epstein? Have you asked the police to conceal for Andrew?"
The King ignored the questions but carried on meeting fans, some of whom chanted "Long live the King". One fan can be heard asking him for a embrace.
A female bystander outside the venue was also heard telling the heckler to "go away" and to "be quiet".
The scandal over Prince Andrew's links to Jeffrey Epstein has been brought back into focus by sexual abuse claims repeated in Ms. Giuffre's posthumously-published book.
In the publication, the accuser says she had sex with the royal on multiple times, including one instance with Jeffrey Epstein and "several other minors"
Prince Andrew, who agreed to a financial settlement with the plaintiff in recent years, has repeatedly denied any wrongdoing. In 2019, he told BBC Newsnight he did not recall meeting Ms Giuffre "ever", and that they "did not have any sort of intimate relations."
But recently, fresh questions 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 nominal fee on his Royal Lodge has intensified the scrutiny over his housing situation - even though he made large payments initially, including for improvements.
The Liberal Democrats said he should be called in front of members of parliament to give testimony about his lease of his lodge.
But last Thursday, the authorities declined to give parliamentarians time to discuss the prince's status or his residence, despite growing pressure for scrutiny.
Buckingham Palace has not commented on whether Prince Andrew might relocate of his current residence - or where he might reside.
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