The Queen's son has long maintained he never saw anything suspicious during his time with Epstein.
The Mail also claims that a source, who was inside the property at the time, believes the victim may have even given Andrew a foot massage while he and Epstein held a private screening of The King's Speech.
The Duke of York has previously been accused of having sex with another of Epstein's victims, Virginia Giuffre Roberts – claims he has repeatedly denied.
In January, a US prosecutor sensationally announced that Andrew had "not been co-operating" with authorities covering the Epstein case.
US lawyer for the Southern District of New York Geoffrey Berman said prosecutors and the FBI had repeatedly contacted Andrew's lawyers to follow up on his previous pledge to help with the investigation.
Berman's remarks are at odds with comments Prince Andrew made about the matter last year.
"Of course, I am willing to help any appropriate law enforcement agency with their investigations, if required."
Berman said his office did not usually comment on whether people were co-operating with authorities. He said he decided to call out Prince Andrew because of his public comments on the matter.
"However, in Prince Andrew's case, he publicly offered, indeed in a press release, offered to co-operate with law enforcement investigating the crimes committed by Jeffrey Epstein and his co-conspirators," Berman said.
The Duke of York has been under fire for months for his association with Epstein, who was facing child sex trafficking charges before his prison suicide on August 10.
The late financier was also accused of procuring young girls for his friends, including Andrew, who has vehemently denied the allegations.
