The allegation surfaced in a cache of legal papers unsealed by a United States judge in a defamation case involving a British socialite alleged to have supplied Jeffrey Epstein with underage girls.
Jeffrey Epstein was under indictment in NY on child sex trafficking charges and awaiting trial.
Epstein had a lot of powerful friends, but none have been connected to Epstein as publicly as Prince Andrew, Duke of York.
Buckingham Palace has "emphatically denied" the allegations, saying that "any suggestion of impropriety with underage minors is categorically untrue".
Virginia Giuffre insists she was "lent out" to Prince Andrew for sexual favours, while another woman, Johanna Sjoberg, says she was groped on the breast by the royal.
She recalled in the documents: "I just remember someone suggesting a photo, and they told us to go get on the couch".
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".
Ms Giuffre had also claimed she was forced into a sexual encounter with the Duke of York. Prince Andrew is said that he had maintained a close relationship to the deceased billionaire.
Ms. Maxwell, Epstein's former girlfriend, has denied the allegations.
Police officers cover a medical examiner auto outside New York Presbyterian-Lower Manhattan Hospital where Jeffrey Epstein's body was transported.
His death has come under a cloud of intense scrutiny and is being investigated by the Federal Bureau of Investigation, given the number of high-profile figures he could have potentially incriminated following his arrest last month on charges of sex trafficking and conspiracy to engage in sex trafficking.
In 2008, Epstein pleaded guilty to a felony charge of solicitation of prostitution involving a minor. "Let me assure you this case will continue on against anyone who was complicit with Epstein. I am angry as hell that the prison could have allowed this to happen and that I and his other victims will never see him face the consequences for his horrendous actions", the statement read.
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