A woman has alleged in a US court document that she was repeatedly forced to have sexual relations with Britain's Prince Andrew, The Guardian has reported.

The accusation against the Duke of York is contained in a motion filed in a Florida court this week by a woman who claimed that she was sexually abused by American billionaire investor Jeffrey Epstein between 1999 and 2002.

In it, she claims Mr Epstein used her to ingratiate himself and loaned her out to rich and powerful men.

She was underage at the time.

The woman, known only as Jane Doe #3, is among several who are filing motions against Mr Epstein for exploiting them as sex slaves.

The claim is related to lawsuits brought against Epstein, and the Prince is not a named party to the legal claim.

The woman alleges she was "forced to have sexual relations" with the Duke of York in London, New York and the Caribbean at the behest of Mr Epstein, according to AFP.

Mr Epstein, 58, a known friend of the Prince, was jailed for 18 months in 2008 after soliciting a 14-year-old girl for prostitution.

Claims against him by most alleged victims have been dropped after settlements were reached out of court.

Buckingham Palace has denied the allegations.

"This relates to longstanding and ongoing civil proceedings in the United States, to which The Duke of York is not a party," a Buckingham Palace spokesman was quoted as saying.

"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."

Prince Andrew's friendship with Mr Epstein was controversial, but this is the first time he has been implicated in the case against the businessman.