Buckingham Palace has issued a strongly worded denial that Prince Andrew was involved in any impropriety after he was named in American court documents related to a convicted paedophile.

A woman has alleged in papers filed in Florida that she was forced to have sex with Andrew when she was 17, which is under the age of consent in the state.

Sky's Rhiannon Mills says the claims were made in a lawsuit connected to the conviction of US billionaire Jeffrey Epstein - a friend of the Prince: