The daughter of a former Australian prime minister was drawn into the scandal surrounding the Duke of York as it was claimed that Jeffrey Epstein boasted about his friendship with the royal to his alleged victims.

Katherine Keating, 37, was identified as the mystery brunette seen waving goodbye to the Duke as she left Epstein's house in New York in 2010.

Meanwhile, three new alleged victims sued Epstein's estate for damages. One of them claimed Epstein "bragged" about his connection to the Duke, and "controlled" a series of powerful people, threatening them on the phone.

Hundreds of people connected to Epstein, and his friend Ghislaine Maxwell, through the New York social scene, are now facing questions over why they did not raise the alarm about the paedophile.

Ms Keating is the daughter of Paul Keating, the former Australian prime minister who gained notoriety in the UK in 1992 when he put his arm around the Queen. The breach of protocol led to him being dubbed the "Lizard of Oz."

His daughter is a former adviser to the New South Wales government and familiar face in New York society.

The video footage showed a young blonde woman leaving Epstein's mansion with him. She shivered in the cold, before going back inside. Later, Ms Keating could be seen departing as the Duke peered from behind the front door.