Giuffre's book Nobody's Girl was published posthumously and gives her account of being trafficked by convicted sex offender Jeffrey Epstein.
In the memoir other allegations are made against a number of individuals, including Andrew Mountbatten-Windsor, who was stripped of his royal titles in the wake of its release.
The memoir details previous claims she was forced to have sex with the former British prince on three occasions, including when she was 17. Andrew vehemently denies the allegations.
The family of Giuffre, who died by suicide in April, Sky and Amanda Roberts and Danny and Lanette Wilson, said in a statement: "This is a bittersweet moment for us.
"We are enormously proud of our sister, and the impact she continues to have on the world.
"We're also filled with so much sorrow that she couldn't be here to witness the impact of her words. In her absence, our family remains committed to ensuring her voice is everlasting."
In the book, published in October, Giuffre described how she dressed in outfits that reminded her of her idols Britney Spears and Christina Aguilera, to first meet Andrew, when she was 17.
Andrew paid millions to Giuffre to settle a civil sexual assault case, despite claiming never to have met her.
Giuffre wrote that he hid behind "the well-guarded gates" of Balmoral Castle, making it difficult for her lawyers to serve him with papers.
Susanna Wadeson, publishing director at Doubleday UK, said of the memoir, co-written with journalist Amy Wallace: "Nobody's Girl is a narrative about surviving abuse, but it is also a rallying cry for reclaiming power.
"Virginia Roberts Giuffre has changed the world with her courage and grace in the face of depravity.
"The impact of her story has brought hope and inspiration to survivors everywhere. Her legacy will be felt for generations."
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