Alex Jenkinson, 39, has denied the public order offence
A witness statement from Andrew Mountbatten-Windsor describing his alleged encounter with a balaclava-clad man near his Sandringham residence was read aloud at Westminster Magistrates' Court on Thursday by Deputy Chief Magistrate Tan Ikram.
The former Duke of York claimed that he had been walking his dogs on the estate when he noticed a vehicle he initially believed belonged to press photographers.
After he and his security team drove past the car, Mr Mountbatten-Windsor claimed that a man "turned and faced me - he was wearing a balaclava face covering."
He described the individual as appearing "out-of-place" and added: "I then saw a loose dog running towards him. Then he realised who I was and began to sprint after my vehicle."
The alleged incident is said to have occurred on May 6 in Wolferton, near Mr Mountbatten-Windsor's Marsh Farm property.
Alex Jenkinson, 39, faces a charge of using threatening, abusive or insulting words or behaviour towards the former royal, allegedly causing him to "fear unlawful violence" during the confrontation.
He denies the public order offence and also a further charge of using threatening, abusive or insulting words or behaviour with intent to cause fear or provoke unlawful violence against another man called Stephen Terry in King's Lynn a day earlier.
However, Mr Jenkinson has admitted to a separate charge of failing to provide a blood specimen while in custody on the same date.
Following the May 6 incident, he was held under the Mental Health Act for approximately one month.
Suffolk Police is simultaneously pursuing a civil Stalking Protection Order against him, drawing on both Mr Mountbatten-Windsor's testimony and material recovered from searches of Mr Jenkinson's phone.
The witness statement is expected to serve as the central piece of evidence in both the criminal and civil proceedings.
Thursday's hearing proceeded without Mr Jenkinson present after court officials refused him entry for bringing his dog, Indie, into the building.
His solicitor, Claire Howell, explained to the judge that her client is currently without a permanent home and staying in a Travelodge, where he is unable to leave the animal unattended.
"It provides him with support, he suffers from ADHD," she told the court.
Ms Howell acknowledged, however, that she had no documentation to substantiate either Mr Jenkinson's medical condition or his requirement for a support animal.
Judge Ikram stated: "I'm not prepared to have a dog in the courtroom simply because he is homeless and he happens to keep a dog. I'm not saying he is not telling the truth but there's nothing to corroborate it."
At the conclusion of the hearing, Judge Ikram granted an extension to the interim Stalking Protection Order that is currently in place against Mr Jenkinson.
He also scheduled a pre-trial hearing for January 22 at Loughborough Magistrates' Court.
The full trial is set to take place at Westminster Magistrates' Court on February 16.
