Prince Andrew, the Duke of York, has said he is "appalled" by sex abuse claims directed at his friend and former financier Jeffrey Epstein.

Key points: The statement is Buckingham Palace's second in a week on Prince Andrew and his relationship with Jeffrey Epstein

The statement is Buckingham Palace's second in a week on Prince Andrew and his relationship with Jeffrey Epstein The Royal's friendship with Mr Epstein was widely reported on by British media prior to the former financier's death

The Royal's friendship with Mr Epstein was widely reported on by British media prior to the former financier's death Over the years, Mr Epstein had also counted Donald Trump and Bill Clinton as his friends

The statement comes after the Mail on Sunday published footage reportedly showing Prince Andrew at Mr Epstein's Manhattan mansion in 2010, two years after the New York financier pleaded guilty to soliciting a minor for prostitution.

After being arrested on July 6 this year, Mr Epstein pleaded not guilty to sex trafficking and conspiracy charges involving dozens of underage girls as young as 14 from at least 2002 to 2005.

Mr Epstein, 66, was found dead in his cell at the Metropolitan Correctional Centre in New York City on August 10 after taking his own life while awaiting his federal trial for sex trafficking, the New York City medical examiner's office said.

Mr Epstein's death came one day after the unsealing of a court filing in which a woman who accused Mr Epstein of keeping her as a sex slave said one of the financier's associates had instructed her to have sex with at least six prominent men.

Jeffrey Epstein had last month pleaded not guilty to sex trafficking and conspiracy charges. ( AP: New York State Sex Offender Registry )

The statement from Buckingham Palace said: "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."

The Mail on Sunday newspaper published images it said showed Prince Andrew inside Jeffrey Epstein's mansion. ( Supplied )

Buckingham Palace's statement on Sunday (local time) was its second on Prince Andrew's relationship with Mr Epstein in less than a week.

When asked about the unsealed court filing, which included allegations about Prince Andrew, Buckingham Palace said: "This relates to proceedings in the United States, to which the Duke of York is not a party.

"Any suggestion of impropriety with underage minors is categorically untrue."

Mr Epstein's friendship with Prince Andrew was widely reported on by British media.

The former financier had also counted US President Donald Trump and former president Bill Clinton as his friends.

Prince Andrew was photographed with Mr Epstein in New York's Central Park in 2010, after Mr Epstein had been sentenced to 18 months in prison for soliciting a minor for prostitution.

The Royal stepped down from his role as UK trade envoy in 2011 after attracting criticism for the appearance.

Space to play or pause, M to mute, left and right arrows to seek, up and down arrows for volume. Watch Duration: 1 minute 34 seconds 1 m 34 s Jennifer Araoz says she was raped by Jeffrey Epstein when she was 15

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