Prince Andrew
Prince Andrew has strenuously denied claims he had sex with an underage Virginia RobertsReuters

A Florida judge has thrown out a case alleging Prince Andrew sexually abused a woman along with billionaire Jeffrey Epstein.

According to Business Insider, the case was filed by the victim, who was later identified as Virginia Roberts by the Mail on Sunday. Roberts had attempted to join an existing lawsuit against Epstein but was rejected by District Judge Kenneth Marra.

Marra also ordered Robert's allegations against the prince and lawyer Alan Dershowitz to be removed from the record. "At this juncture in the proceedings, these lurid details are unnecessary. The unnecessary details shall be stricken," Marra wrote in his judgment.

Andrew had known Epstein for at least 15 years, with their friendship spanning about five years, according to Business Insider. However, the British royal was forced to end it after Epstein was the focus of a criminal complaint in the US.

The complaint, filed by the stepmother of a 14-year-old girl, alleged Epstein had paid the teenager to give him an "erotic massage". Business Insider reported the allegations led to an 11-month investigation and eventually charges filed against the businessman in 2008.

Epstein pleaded guilty to soliciting an underage girl for prostitution in an agreed plea deal with the prosecution. He served 13 months of an 18-month sentence. However, an appeals court later ruled the prosecutors had violated the Crime Victims' Rights Act when it failed to inform victims of the plea deal before it was agreed upon.

Business Insider reported two women involved in the original case are hoping to join two others in a case against the US government alleging a violation of their rights under the CVRA.

Following the allegations, Buckingham Palace released two denials of the prince's involvement. "It is emphatically denied that the Duke of York had any form of sexual contact or relationship with Virginia Roberts," a Palace spokesman said at the time. "The allegations made are false and without any foundation."