The Duke of York and his accuser, Virginia Giuffre, have agreed that service was effective as of September 21, according to a joint filing on Friday with the US District Court in Manhattan.
Andrew has until October 29 to formally respond to the lawsuit.
Ms Giuffre, 38, is suing the Queen’s son for allegedly sexually assaulting her when she was a teenager.
She is seeking unspecified damages, but there is speculation the sum could be in the millions of dollars.
Andrew has “absolutely and categorically” denied the allegation.
Senior sources said on Monday that the Duke had expressed “serious concerns” to his team of lawyers over their handling of the case brought against him.
A previously scheduled October 13 court hearing has been cancelled.
Epstein, a registered sex offender, killed himself in a Manhattan jail in August 2019 while awaiting trial on sex trafficking charges.
His former partner Ghislaine Maxwell faces a scheduled November trial in Manhattan on charges she helped recruit and groom underage girls for Epstein to abuse. She has pleaded not guilty.