A second woman who was allegedly abused by billionaire paedophile Jeffrey Epstein has claimed she had sex with Prince Andrew.

This comes after the Duke of York denied having slept with 17-year-old Virginia Roberts at the Belgravia home of Ghislaine Maxwell - who is accused of trafficking in young women for Epstein.

The second woman, who has not been named, has communicated with lawyers who are representing Epstein's other alleged victims, The Mirror reports.

It is being decided whether these allegations will form part of a lawsuit against Epstein's estate and a 'rigorous investigation' is underway, sources say.

There is nothing to suggest that the woman claims to have been coerced into sleeping with the Duke of York.

The Duke of York denied having slept with 17-year-old Virginia Roberts (pictured together) at the Belgravia home of Ghislaine Maxwell - who is accused of trafficking in young women for Epstein

A second woman who was allegedly abused by billionaire paedophile Jeffrey Epstein has claimed she had sex with Prince Andrew (pictured with his daughters in 2015)

A palace spokeswoman said the latest allegations are 'not something we would comment on.'

Johanna Sjoberg has claimed that Prince Andrew groped her breasts with a Spitting Image puppet of himself and said she is willing to testify under oath against the Duke of York.

It was today revealed that Prince Andrew was 'particularly fond' of having two women massaging him at once according to former friends, who revealed how models would sit on his lap at high society dinner parties.

An anonymous friend of Andrew, who went to parties with him after his divorce from Sarah Ferguson in 1996, claimed how 'sexy young models' would fling their arms around him and call him 'Andy, Darling'.

The associate claimed the Prince's 'sexual appetite' was on full display at one party held in the late 90s - hosted by a British art dealer and his 'exotic foreign wife' - where he would reportedly lie back and allow the models to sit on his lap.

An anonymous friend of Andrew's, who went to parties with him after his divorce from Sarah Ferguson in 1996, claimed how 'sexy young models' would fling their arms around him and call him 'Andy, Darling'. He is pictured at a Chinese New Year party the Reform Club on Pall Mall

When one stood up another would quickly take her place, the friend told journalist Vassi Chamberlain, for online magazine Airmail.

A stylist named Lucy claimed the Duke particularly enjoyed receiving four-handed massages - where two women rubbed their hands over him at once.

Describing her relationship with the prince, the woman said Andrew was: 'Respectful. Sexually, a little keen, but perfectly straightforward.

'There was a bit of chasing around the sofa, but not in an aggressive way,' she said.

Appearing on the BBC's Panorama programme Virginia Roberts - now Virginia Giuffre - said that after coming to London with Epstein and his alleged madam Ghislaine Maxwell in 2001, she went dancing with the Prince at a nightclub where he was 'raining sweat on her'.

Johanna Sjoberg (pictured) has claimed that Prince Andrew groped her breasts with a Spitting Image puppet of himself and said she is willing to testify under oath against the Duke of York

Appearing on the BBC's Panorama programme Virginia Roberts (pictured) - now Virginia Giuffre - said that after coming to London with Epstein and his alleged madam Ghislaine Maxwell in 2001, she went dancing with the Prince at a nightclub where he was 'raining' sweat on her'

The 35-year-old told said that after leaving Tramp nightclub, 'in the car Ghislaine tells me that I have to do for Andrew what I do for Jeffrey.

'And that made me sick. I didn't expect it from royalty.

'I didn't expect it from someone that people look up to and admire - the royal family.'

Describing the alleged events of the evening she said: 'There was a bath and it started there and it led into the bedroom.

'It didn't last very long, the whole entire procedure. It was disgusting.

'He wasn't mean or anything. But he got up and said thanks and walked out.

'And I sat there in bed just felt horrified and ashamed and felt dirty.'

She went on: 'I had just been abused by a member of the royal family.'

Earlier this week, it was reported that Prince Philip has ordered the Duke of York to step down for the sake of the monarchy following the backlash over the Duke's friendship with Epstein.

Prince Philip reportedly told Andrew (both pictured) to step down after explosive claims made by Virginia Roberts

The duke (left) is facing continued backlash over his friendship with billionaire paedophile Jeffrey Epstein (right)

An insider at the royal estate told The Daily Telegraph: 'It was a tense meeting and Philip told his son that he had to take his punishment.'

Prince Charles also 'read the riot act' to his under-fire brother, a source claimed.

The Prince of Wales is said to have dragged his younger sibling to the royal estate for a crunch summit where he effectively retired the duke from his public duties.

Charles told his embattled brother there was 'no way back into the family in the near future' after the public outcry that followed his disastrous Newsnight interview.

Prince Philip also joined his sons for the light lunch, which took place shortly before the BBC interview with Andrew's accuser Virginia Roberts aired on Monday.

Andrew has repeatedly claimed that he did not have sex with Virginia Roberts and says that he couldn't remember meeting her.

Prince Charles 'read the riot act' to his under-fire brother Andrew (pictured together, left) during a dramatic showdown amid the ongoing scandal surrounding Jeffrey Epstein (right)

Earlier this week a new lawsuit filed against Epstein's estate by nine accusers claimed the paedophile's sexual abuse of girls and young women began as early as 1985 and he targeted victims as young as 13 years old.

The accusers, known as Jane Doe I through Jane Doe IX, are among more than 20 women so far to formally seek compensation from the late financier's $577 million estate.

Epstein died August 10, while he was awaiting trial on unrelated charges in a Manhattan prison.

Prince Andrew attends Christmas Day church service in King's Lynn, 2017

Epstein's death, at age 66, was ruled a suicide and came five weeks after his arrest on federal charges that he trafficked dozens of underage girls from at least 2002 to 2005. He had pleaded not guilty.

Lawyers for Epstein's estate did not immediately respond to requests for comment on the lawsuit, which was filed in a New York state court in Manhattan.

The nine women said Epstein's abuses spanned more than two decades, often with help from associates, and six said they were raped.

The plaintiffs' lawyer, Jordan Merson, told The New York Post that he is still working to determine the identity of all of Epstein's “associates”.

Meanwhile, one accuser, Jane Doe II, said in court filings that Epstein sexually assaulted, abused and battered her starting around 1985, when she was 23.

Another accuser, Jane Doe I, said she was 14 when abuse began around 1990, while Jane Doe III said she was just 13 when her abuse began around 2003.

On November 14, the executors of Epstein's estate, Darren Indyke and Richard Kahn, asked a judge in the US Virgin Islands to establish a voluntary restitution fund to compensate Epstein's victims.

The fund's administrators would include high-powered attorney Kenneth Feinberg, who has overseen payments on claims tied to the September 11 terror attacks and the 2010 BP oil spill in 2010

The latest accusers join a long line of women who have spoken out claiming to be victims of Epstein.