LONDON — Royal officials on Friday denied that Britain’s Prince Andrew, Duke of York, engaged in any “impropriety with underage minors” after he was named in U.S. court documents related to a lengthy lawsuit against American financier Jeffrey Epstein.

In papers filed to a Florida court, an unidentified woman alleged that Epstein forced her to have sex with Prince Andrew in London, New York and on a Caribbean island when she was under the age of 18.

Buckingham Palace said in a statement: “This relates to longstanding and ongoing civil proceedings in the United States, to which the Duke of York is not a party. As such we would not comment on the detail.”