- 18 updates
Buckingham Palace has said there is "no record" of a meeting between the Queen and the woman at the centre of sex allegations against her son, the Duke of York.
Virginia Roberts claims she was forced to have sex with Prince Andrew when she was 17 , which is under the age of consent in America.
Palace officials have "emphatically denied" the claims but the woman's father Sky Roberts says his daughter once met the Queen while on a visit to London.
A palace spokesman insisted: "There is nothing to suggest the claim is true. We have no record of such a meeting."
Prince Andrew has flown back to the UK following claims a woman was forced to have sex with him while she was underage.
The prince is understood to have returned home from a ski resort in Verbier, Switzerland, after he was named in US court documents related to a convicted paedophile.
A woman identified as Virginia Roberts claims she was sexually exploited by convicted sex offender Jeffrey Epstein - a former friend of the Duke of York.
She alleges she was "forced to have sexual relations with the prince when she was a minor" between 1999 and 2002.
Buckingham Palace said the claims made by Roberts are "categorically untrue''.
Scotland Yard said it had not received any complaint related to the case but would investigate if an allegation was made.
Officials insist Prince Andrew has no intention of reducing his royal duties despite newspaper headlines that may have made uncomfortable reading.
Buckingham Palace has released a statement strongly denying that the Duke of York has had any sexual contact or relations with a woman named by some outlets as Virginia Roberts.
ITV News Royal Correspondent Tim Ewart reports.
Buckingham Palace has issued a second denial that the Duke of York had sexual contact with a woman who claims she was forced to have under-age sex with him, branding the allegations "false and without any foundation".
It comes after two Sunday newspapers published details of interviews with the woman who reportedly named Andrew in US court documents related to a convicted paedophile.
In a second strongly-worded statement, a Buckingham Palace spokesman said: "It is emphatically denied that the Duke of York had any form of sexual contact or relationship with (the woman)".
ITV News' Political Correspondent Carl Dinnen reports:
An American lawyer - accused along with Prince Andrew of having sex with an underage girl - says she is lying. Buckingham Palace has strongly denied the Prince was involved in any impropriety - allegations made in legal papers filed in Florida. Harvard law professor Alan Dershowitz claims she's making it up. He spoke ITV News political correspondent Carl Dinnen:
The Duke of York has been urged to fight back with "every ounce of energy" against allegations made in US court documents by a woman who claimed she was forced to have sex with him while she was still a minor.
Harvard law professor Alan Dershowitz - who is also named in the court papers - said the claims against him were part of a pattern of "made-up stories" by the woman and her lawyers against prominent people.
Professor Alan Dershowitz told Radio 4:
Buckingham Palace have taken the unusual step of denying the allegations.
Latest ITV News reports
How the allegations that a woman was forced to have sex with Prince Andrew while she was underage unfolded.
Buckingham Palace has said any suggestion Prince Andrew was involved in "impropriety with under age minors is categorically untrue".