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.
Ms Giuffre alleges she was trafficked to the prince by Epstein and Ghislaine Maxwell.
Although the settlement does not mention the prince by name, his lawyers say this 2009 deal means she cannot sue him - because she agreed to end all legal action against anyone connected to the offender who could be described as a "potential defendant".