Buckingham Palace said on Saturday this related to USA proceedings "to which the Duke Of York is not a party".
The documents also list another woman named Johanna Sjoberg, then 21, who alleged that Andrew groped her at Epstein's NY townhouse. "Any suggestion of impropriety with underage minors is categorically untrue".
Johanna Sjoberg gave a sworn deposition that the Duke of York fondled her breast after she sat on his knee while the billionaire's "sex slave" Virginia Giuffre sat alongside.
The claim was made by Juan Alessi during a testimony pertaining to a defamation case filed by Virginia Giuffre.More news: Popular Ivorian singer, DJ Arafat is dead
"And so then I sat on Andrew's lap, and I believe on my own volition, and they took the puppet's hands and put it on Virginia's breast, and so Andrew put his on mine".
Ms Giuffre had also claimed she was forced into a sexual encounter with the Duke of York.
The legal documents claim Ms Sjoberg was a "young college student" who was approached by "perfect stranger" Ms Maxwell, who "lured" her to Epstein's home with the promise of a "legitimate job".
The 59-year-old royal also shared the vehicle to Crathie Kirk on the Balmoral estate yesterday morning with his daughter, Princess Beatrice, while the Prince of Wales drove himself and the Duchess of Cornwall.More news: Warning issued for Apple's 1.4 billion iPad and iPhone users
Attorney General William Barr warned co-conspirators in the sex trafficking case involving convicted pedophile Jeffrey Epstein that they "should not rest easy" because the case is not over despite Epstein's death over the weekend.
Prince Andrew was reportedly introduced to Mr Epstein through his friendship with Ghislaine Maxwell, the financier's former girlfriend, in the 1990s.
After Epstein was arrested, Mr Trump told reporters he "knew (Epstein), like everybody in Palm Beach knew him", but added: "I had a falling out with him".
Epstein's suicide, which took place days after being taken off suicide watch and hours after a 1,200-page dossier detailing the allegations against him was released, has left many questions unanswered.More news: Canadian teen Andreescu wins Toronto title after tearful Serena Williams retires
She told the Evening Standard: "Once again my errors have compounded and rebounded and also inadvertently impacted on the man I admire most in the world, the duke".
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