A lawsuit filed in Florida accuses the Duke of York of having sexual relations with an underage sex slave.

The allegation names multi-millionaire financier Jeffrey Epstein who was convicted of soliciting sex with an underage girl.

"One such powerful individual Epstein forced (the woman) to have sexual relations with was a member of the British royal family, Prince Andrew (aka Duke of York)," the court document states.

Epstein was an options trader at Bear Stearns, the global investment bank that failed in 2008 and was sold to JP Morgan Chase after a Federal Reserve bailout failed to float the securities trading and brokerage firm.

A spokesman for Prince Andrew denied the accusation. "This relates to long-standing and ongoing civil proceedings in the United States, to which The Duke of York is not a party," he said.

"As such we would not comment on the detail. However, for the avoidance of doubt, any suggestion of impropriety with underage minors is categorically untrue."

The British royal family was tainted by its relationship with the late Jimmy Savile. The television presenter, accused of having sex with hundreds of minors, "was in deep with the Royals," according to Noel Edmonds, the presenter of the BBC's Deal or No Deal.