Prince Andrew is trapped in a royal mess over his ties to pedophile Jeffrey Epstein — with old allegations surfacing again Monday that the British blue blood once cavorted with “a harem of adolescent girls’’ at the sex molester’s Florida mansion.

In sworn testimony from a former Epstein staffer at the late financier’s Palm Beach, Fla., estate in 2011, Andrew was accused of getting massages from the young girls. The prince has denied the allegations.

But he has also been hounded over statements from Epstein accuser and alleged sex slave Virginia Giuffre, who has said she met Andrew when she was 17 and had sex with him three times.

She gave testimony in 2015 as part of a lawsuit involving Epstein’s accused madam and onetime girlfriend, heiress Ghislaine Maxwell.

Giuffre said she met the prince in 2001 at Maxwell’s London home — and took a bath with him.

“He started licking my toes, between my toes, the arches of my feet. And then we went into the bedroom and he proceeded to make love to me, so to speak,’’ she claimed in court papers, according to the Daily Mail.

She said Epstein paid her $10,000 the next day, the Mail said.

Andrew has vehemently denied the claims — and a judge eventually ordered them stricken from the case as immaterial.

But the controversy around Andrew’s friendship with Epstein — who committed suicide Aug. 10 in a Manhattan jail cell amid sex trafficking charges — refuses to die.

On Saturday, the Mail published video footage, believed to be from 2011, that shows Andrew at the door of Epstein’s Upper East Side mansion.

Buckingham Palace took the rare step of addressing the sordid claims in the press by issuing a statement saying, “The Duke of York has been appalled by the recent reports of Jeffrey Epstein’s alleged crimes.

“His Royal Highness deplores the exploitation of any human being and the suggestion he would condone, participate in or encourage any such behaviour is abhorrent.”

Maxwell has denied any wrongdoing as well.

Andrew became pals with Epstein in the late 1990s thanks to his ex-wife, Sarah Ferguson, a friend of Maxwell’s, the Mail said.

Over the years, Andrew was jetted around the globe courtesy of Epstein, including to one of the multimillionaire’s Caribbean islands, which locals dubbed “Pedophile Island’’ because of allegations of barely legal women cavorting there.