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Prince Andrew "categorically denies" sensational allegations by a woman who claims she was forced to have sex with him while under 18.

The allegation is contained in a document filed in a Florida court by a woman who claims banker and convicted sex offender Jeffrey Epstein loaned her to rich and powerful friends.

The woman claims she was forced to have sexual relations with Prince Andrew on three occasions, according to The Guardian.

The claim was made in connection with a long-running lawsuit brought by two women who allege they were exploited by Epstein.

The 58-year-old was jailed for 18 months in 2008 after soliciting an underage girl for prostitution.

(Image: Getty)

A palace spokesman said today: "This relates to long-standing and ongoing civil proceedings in the United States, to which The Duke of York is not a party.

"As such we would not comment on the detail.

"However, for the avoidance of doubt, any suggestion of impropriety with underage minors is categorically untrue."

Another close associate of Epstein who is also accused in the document told the Guardian that the woman's accusations against him were "totally false and made up."

Epstein served 13 months after agreeing a plea deal with prosecutors and admitting relatively minor charges of paying for sex with a 14-year-old girl.

Since then, some 40 women have in total come forward claiming that Epstein abused them, though almost all settled their cases.

The latest revelations have emerged as twi women are taking legal action against federal prosecutors, claiming that Epstein's plea deal was reach without their statutory right to be consulted.

Another two women are seeking permission to be added to the legal action.

One of these women - referred to only as Jane Doe 3 in the action - has named Prince Andrew in her recent motion to be added to the legal action.

Epstein was one of the wealthiest and well-connected men in America until he was jailed.

But despite this Prince Andrew stayed friends with him for three more years until they were seen together.

In 2009, Prince Andrew was seen strolling through Central Park with Epstein after he left prison.

It also emerged the prince had stayed at Epstein's home in Florida and flew with him in his private jet.

His ex-wife the Duchess of York had even been bailed out by Epstein with £15,000 when she got into debt.

The scandal caused acute embarrassment to the Duke and forced him to step down from his role as Britain’s trade envoy.

Epstein has been sued for £65,000 by a top crisis management company which claims he hired them in 2011 to deal with the scandal over his friendship with Prince Andrew.

Sitrick & Co. have accused the billionaire paedophile of failing to pay the fees for advising him after the Duke of York stayed at his £30 million Manhattan mansion.

The California Superior Court papers filed by Sitrick & Co. say: 'On or about March 11, 2011, Epstein entered an oral agreement with (Sitrick) to provide consulting advice and public relations services concerning Epstein’s relationship with Prince Andrew.'

According to the New York Post, Epstein countersued and claimed he has never been properly served as his main residence is the British Virgin Islands, but a judge has ruled that he can be deposed no matter where he lives.

Sitrick & Co. are among the highest profile crisis management and PR companies in the US and have represented the likes of Paris Hilton and X-Files star David Duchovny.

The Roman Catholic Archdiocese of Los Angeles sought their help in 2002 during the abuse scandal.

The firm’s head Michael Sitrick has been compared to the fixer played by Harvey Keitel in ‘Pulp Fiction’ who deals with a dead body.