One driver, 50, said he took home only £160 ($313) one week after paying for van costs and fuel, which he is reimbursed for later.
An Amazon spokesman told the Sunday Mirror: "Over 100 businesses across the UK are providing work opportunities to thousands of people delivering parcels to customers.
"We are committed to ensuring that the people contracted by our independent delivery providers are fairly compensated, treated with respect, follow all applicable laws and driving regulations and drive safely.
"Our delivery providers are expected to ensure drivers receive a minimum £12 ($23.50) per hour before deductions and excluding bonuses, incentives and fuel reimbursements."
A Prospect Commercial Ltd said: "We work hard to provide a good service and supportive work environment for our self-employed contracted drivers.
"We provide competitive compensation to contracted drivers, who receive a rate in excess of the national living wage after deductions, and this is regularly audited."