Britain's Prince Andrew has spoken for the first time to deny allegations he had underage sex with a teenage girl more than a decade ago.

Virginia Roberts has claimed in US court documents she was made to sleep with him when she was 17.

Her lawyers have asked him to be interviewed under oath about the allegations.

Speaking at an event at the World Economic Forum in Davos last night, the Duke of York publicly dismissed her claims.

Ms Roberts, who is referred to in court as Jane Doe No 3, claims when she was 17 she was forced to have sex with Prince Andrew by his friend Jeffrey Epstein - a financier and convicted sex offender.

She claims to have had sex with Prince Andrew on three occasions: once at a London townhouse after they had gone to a nightclub, once in a New York mansion and once on a private island in the US Virgin Islands.

Buckingham Palace has issued a number of official denials, including an earlier statement insisting "any suggestion of impropriety with underage minors" was "categorically untrue".