Virgina Roberts
Virginia Roberts claims she was 'loaned' to Prince Andrew for sex when she was 17Virginia Roberts

Prince Andrew may have been filmed with a teenage girl by his former friend, convicted sex offender Jeffrey Epstein, who is said to have concealed cameras at his luxury homes in order to film orgies for his own gratification.

Buckingham Palace has made a second denial about claims by "Jane Doe 3", believed to be 30-year-old Virginia Roberts, who was 17 when she said she met and had sex with the Prince. Seventeen is below the age of consent in Florida, where one such meeting is said to have taken place.

Today's Sunday People claims to have viewed legal files from Palm Beach Federal Courthouse which state: "Some of the photographs in the defendant's possession were taken with hidden cameras set up in [Epstein's] home in Palm Beach.

"On the day of his arrest, police found two hidden cameras and photographs of ­underage girls on a computer in the defendant's home. [He] may have taken lewd ­photographs of Jane Doe 102 with his hidden cameras and transported [them] to his other residences and elsewhere."

Ghislaine Maxwell
Ghislaine Maxwell categorically denies claims she procured girls for EpsteinLaura Cavanaugh/Getty Images

Roberts claims she was being held as a sex slave by Epstein and used by rich and powerful men around the world, although there is no suggestion the Duke of York knew of her alleged predicament.

Among the most sordid allegations are claims by Roberts that she was brought to London to the home of tycoon Robert Maxwell's daughter Ghislaine, where she had sex with Andrew for the first time and Ghislaine took photographs of the girl. One picture in circulation is said to show Andrew with his arm round the girl's waist as Maxwell looks on. Ghislaine Maxwell denies all allegations.

One picture in circulation is said to show Andrew with his arm round the girl's waist as Maxwell looks on. Ghislaine Maxwell denies all allegations.

Ghislaine Maxwell denies all allegations.

Maxwell's spokesman Ross Gow said yesterday: "The allegations made… against Ghislaine Maxwell are untrue. The original allegations are not new and have been fully responded to and shown to be untrue.

"Each time the story is retold it changes, with new salacious details about public figures. [Roberts'] claims are obvious lies and should be treated as such and not publicised as news, as they are defamatory."

Epstein, a former friend to Bill Clinton, Kevin Spacey and Chris Tucker, was shunned following his conviction for soliciting sex with an underage girl, but Prince Andrew kept in touch and has been photographed with Epstein since his release from prison, after serving 13 months of an 18-month sentence.

Buckingham Ppalace has again denied all the allegations against Prince Andrew, who is said to be flying back to the UK from a ski trip in Switzerland today for a face-to-face meeting with the Queen, according to the Sunday Express.