A woman has alleged in papers filed in Florida that she was forced to have sex with Andrew when she was 17, which is under the age of consent in the state, according to The Guardian.
The claim is said to have been made as part of a lawsuit in connection with American billionaire and convicted paedophile Jeffrey Epstein.
Andrew was photographed with Epstein in New York two years after the American’s release from prison in 2009, and their friendship was a source of controversy.
The woman making the allegations claims that between 1999 and 2002 she “was forced to have sexual relations with this prince when she was a minor” in London, New York and on a private Caribbean island owned by Epstein.
The accusation is reportedly contained in a motion filed in a Florida court this week which is part of a lawsuit over how federal prosecutors handled the case of Epstein, who was sentenced to 18 months in prison in 2008 for soliciting a minor for prostitution.
A Buckingham Palace spokeswoman said: “This relates to long-standing and ongoing civil 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”.
The Guardian reported the woman making the claims against Andrew was allegedly converted into a “sex slave” by Epstein, who is accused of repeatedly abusing her on his private jet and luxury homes in New York, New Mexico, Florida and the US Virgin Islands.
The court document alleges: “Epstein also sexually trafficked the then-minor Jane Doe (a name used in US legal proceedings for people with anonymity), making her available for sex to politically connected and financially powerful people.”