The "diary" says that Epstein, 61, a billionaire who in 2008 pleaded guilty to a single charge of soliciting prostitution and was handed a 18-month jail sentence, invited Ms Roberts to accompany him on a six-week trip in 2001. They flew to Paris, Spain, Morocco and then London, it is claimed.
Jeffrey Epstein, who was close friends with Prince Andrew, was convicted of soliciting prostitution in 2008
It alleges the first time Ms Roberts met the prince was at the London home of another of Epstein's friends, and that they went to dinner and then to London's Tramp nightclub where they had cocktails. "He was the most incredibly hideous dancer I had ever seen," says the diary, which then continues to detail Ms Roberts' alleged sexual encounter with the prince later that evening.
The allegations against Prince Andrew were included in a law suit filed in Florida which claims Epstein passed Ms Roberts around rich and powerful friends as a "sex slave" while she was 17, legally a minor in Florida. The lawsuit claims that she was encouraged to recruit other similar girls to have sex with the banker and his friends.
"I never brought back a girl that ever said no, or didn't want to participate in an erotic massage," she reportedly wrote in the "diary".
Prince Andrew has been defended by his former wife, Sarah Ferguson, who has described him as "the best man in the world". This week she repeated her defence of him, telling NBC's morning TV show Today he was a "humongously good man".
"I won't stand by, because I know what it feels like to have salacious lies made up about you, and not support him so publicly because they are just shockingly accusatory allegations, which I don't think that's right," she said.
She added: "It's defamation of character and, as a great father and humongously good man and all the work he does for Britain, I won't stand by and let him have his character defamed to this level. I'll have not one word said about him on any level."
Many of Epstein's high profile former associates, such as Bill Clinton, broke off contact with him after he was jailed, but Prince Andrew did not. His continued friendship with him was among the factors that added to the pressure for him to give up his role as Britain's trade envoy in 2011.
- The Independent