The allegation was contained within a tranche of just unsealed court papers in a defamation case involving Ghislaine Maxwell, a British socialite and media heiress accused of procuring underage girls for Epstein and his social circle of the rich, famous and powerful.
"I've known Jeff for fifteen years".
Virginia Giuffre, an alleged victim of Epstein who also claimed she was forced into a sexual encounter with Andrew, sued Ghislaine Maxwell in 2015.
Giuffre has alleged that Epstein began sexually abusing her when she was 16.
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".
Epstein was previously arrested over a series of allegations of sexual misconduct from at least 2002 to 2005. Although Giuffre and Maxwell settled in 2017, the Court of Appeals for the Second Circuit ordered the unsealing last month, according to The Cut.
Giuffre said Epstein's "appetite was insatiable".
He is facing fresh charges of sex trafficking and conspiracy and could stand trial next year.
The southern district of NY, which is prosecuting Epstein for alleged sex trafficking, said: "We're not a party to this litigation so we can't comment".
The charges in the July indictment of Epstein share similarities with Giuffre's account, but it's not clear whether she is among any of the unnamed victims in that indictment.
In one of the allegations, Johanna Sjoberg, another alleged Epstein victim, said the Duke of York touched her breast while sitting on a couch inside the billionaire's Manhattan apartment in 2001.
She claims Andrew guessed her age. In a highly unusual statement issued in 2015, Buckingham Palace said "any suggestion of impropriety with underage minors is categorically untrue" and explicitly denied Prince Andrew ever had sexual contact with Giuffre.
Attorney Martin Weinberg has said Epstein has not committed crimes since pleading guilty to charges of soliciting a minor for prostitution in Florida in 2008.
In the deposition, Giuffre says "it's true that he didn't partake in any sex with us, (but) it's not true that he flirted with me".
After Epstein was arrested, Mr Trump told reporters he "knew (Epstein), like everybody in Palm Beach knew him", but added: "I had a falling out with him".
Guiffre, who friends and family describe as private and polite but a sweetheart, told the New Yorker it was a tactical mistake that had emboldened her to go public.
Epstein's lawyers say the federal charges that accuse Epstein of recruiting and abusing dozens of underage girls in NY and Florida in the early 2000s should never have been brought.