When asked about the unsealed court filing, which included allegations about Prince Andrew, Buckingham Palace said: "This relates to proceedings in the United States, to which the Duke of York is not a party".
Registered sex offender and multimillionaire financier Jeffrey Epstein allegedly had three poor 12-year-old girls living in France flown in as a "birthday present" for him from a friend, an alleged sexual assault victim claimed in a Florida civil suit.
A Buckingham Palace statement said: "The Duke of York has been appalled by the recent reports of Jeffrey Epstein's alleged crimes".
The statement was released after the Mail on Sunday newspaper obtained a December 6, 2010, video showing Andrew inside Epstein's NY home waving goodbye to a young woman.
The video, shared by the MailOnline, reveals Andrew looking out of a door at Epstein's home and waving goodbye to a woman after the financier departs the Central Park mansion to get into a auto.
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Buckingham Palace has issued strong denials over claims from a woman who said she was forced to have under-age sex with the duke.
In 2011, a woman named Virginia Roberts, now Virginia Giuffre, accused Andrew of forcing her to have sex with him and knowing full well of Epstein's escapades.
She alleged she had sex with Andrew "three times, including one orgy" in London, at Epstein's NY home, and at an "orgy" on his private island in the Caribbean.
The prince has also been criticized for hosting Epstein at Balmoral Castle, the Royal Family's Scottish home, in 1999.
Mr Epstein, 66, was found dead in his cell at the Metropolitan Correctional Centre in New York City on August 10 after taking his own life while awaiting his federal trial for sex trafficking, the New York City medical examiner's office said.