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Prince Harry went to Afghanistan as an infantryman in 2008, before training as a pilot and returning as an Apache gunner in 2012, when he was 27.
The decision over whether the princes should take part in the conflict was discussed at a meeting between the late Elizabeth II and General Sir Mike Jackson, formerly head of the British Army.
The Duke of York's BBC interview with Emily Maitlis led to the Queen stripping him of his military affiliations, royal patronages and use of his HRH title.
The Duke of Sussex, who was 27 at the time of the alleged incident in 2012, was described as 'blind drunk' by the soldier, who served in the army for more than a decade before being injured.
As the Duke of Sussex's memoirs hit the couple's popularity on both sides of the Atlantic, his wife is said to have expressed concerns that it could ruffle the wrong feathers.