Andrew Mountbatten-Windsor and Jeffrey Epstein asked an exotic dancer to engage in various sex acts at the late convicted sex offender's Florida home, a legal letter claims.

In a letter released as part of the latest tranche of Epstein files, the unnamed woman's lawyers said she had been offered $10,000 to dance and that after she performed Epstein and Mountbatten-Windsor had asked for a threesome.

Lawyers indicated the woman had not been paid the promised amount and would keep the alleged 2006 encounter, in which she was treated like a prostitute, confidential in exchange for a payment of $250,000.

The letter, dated March 2011, claims that the woman and other exotic dancers from Rachel's Strip Club in West Palm Beach had been chauffeured to Epstein's house and offered $10,000 to perform.

Claims in the document detail that she observed other young women dressed provocatively at the party, some of whom appeared to be as young as 14 years old.

Upon arrival, she was directed upstairs where she was introduced by Epstein to Mountbatten-Windsor. The letter alleges, My client then danced for the men, undressing until she was wearing only a bra and panties. Mr. Epstein and Prince Andrew then told my client they wanted to have a threesome.

She said she was hired to dance, not to have sex. Mr Epstein said they would pay her later for dancing, and they prevailed upon her to engage in various sex acts.

The letter also claims that after the two men had satisfied themselves, she was invited to take a trip with them to the Virgin Islands, which she declined.

Overall, the woman received only $2,000 of the promised fee of $10,000. Her lawyers stated that she initially refrained from pursuing her claims due to the nature of her work as an exotic dancer.

Furthermore, the letter suggests that Mountbatten-Windsor is under increasing pressure to provide evidence regarding his connection to Epstein, particularly in light of recent accusations, which he has consistently denied.

In addition to the dancer's testimony, photographs that allegedly show Mountbatten-Windsor in compromising positions have surfaced as part of the ongoing investigation into Epstein's trafficking ring.

Mountbatten-Windsor previously settled a civil sexual assault claim with Virginia Giuffre, who accused him of sexual assault when she was a teenager.