PHILADELPHIA — Bill Cosby’s insurance company, American International Group, has settled a sexual-battery lawsuit that was filed against him by Chloe Goins, a model who accused Mr. Cosby of assaulting her in 2008, the incarcerated comedian’s office said on Tuesday.

Mr. Cosby, who is serving time in a Pennsylvania prison for assaulting another woman in 2004, lashed out at A.I.G., saying the settlement — whose terms were not disclosed — was “unauthorized.”

“A.I.G. continues to act egregiously by settling these heinous claims without my knowledge and/or consent,” Mr. Cosby said in a statement that his publicist, Andrew Wyatt, said he took down over the phone on Monday.

In early April, seven other women agreed to settle claims of defamation, which they brought against Mr. Cosby in federal court in Massachusetts after he accused them of falsely saying he had sexually assaulted them. A.I.G., as Mr. Cosby’s insurer, also settled those claims.