Jeffrey Epstein's attorney, Ms Lilly Ann Sanchez, said the allegations are false and motivated by money.

The girl, now 17 and identified only as Jane Doe, claims Epstein invited her to his Palm Beach, Florida mansion in 2005 to perform a massage for US$300. He demanded she remove her clothes, then sexually assaulted her, according to the lawsuit filed in federal court in West Palm Beach.

'Jane experienced confusion, shame, humiliation, embarrassment, and the assault sent her life into a downward spiral,' according to the lawsuit.

The girl, her father and stepmother are seeking more than US$50 million.

'It is our belief that this is completely financially motivated,' Ms Sanchez said. She said the girl told Epstein she was 18, and regardless, he did nothing inappropriate with her.

The teen is also at the centre of a criminal case against Epstein in Florida, said her lawyer, Mr Jeffrey Herman.

Epstein is charged with one felony count of solicitation of prostitution. He faces up to five years in prison if convicted. A hearing in that case is set for March.

Prosecutors declined to charge Epstein with soliciting a minor for sex, as Palm Beach police recommended. The state attorney's office declined to comment about the criminal case.

Epstein, 55, a money manager, also was sued last year in New York by a woman who claims he had sex with her at his Upper East Side mansion in 2000 when she was 16.

'I think it's unfortunate that Mr Epstein doesn't see what he's done to these young people and just look to reach a reasonable settlement with them,' said the woman's attorney, Mr William J. Unroch, who said the woman lives in his home but they are just friends.

Another Epstein attorney, Mr Gerald Lefcourt, also denied the allegations in the New York case. He said in court papers that Mr Unroch and his client, who is a man living as a woman, filed a similar lawsuit in a separate case.

Mr Unroch said that case was settled. He declined to comment on allegations that his client is a man.

'My client has lived her life as a woman, so as far as I'm concerned she is a woman,' Mr Unroch said. -- AP