The royal biographer made the comments while discussing the Duke of York's interview, which aired on Saturday and in which he discussed his links to the disgraced financier.
Host Piers Morgan was addressing the prince's visit to Epstein's home when Lady Colin Campbell interrupted to claim that the financier's convictions did not make him a paedophile.
"You all seem to have forgotten that Jeffrey Epstein, the offence with which he was charged and for which he was imprisoned, was 'soliciting prostitution from minors'.
She then added: "Soliciting prostitution from minors. Prostitution."
The conversation turned heated as Morgan replied: "Well, what would you call it? If you solicit a 14-year-old for prostitution then you're a paedophile."