Epstein, 66, was found hanged in his NY jail cell on Saturday in an apparent suicide raising wild conspiracy theories and serious questions about his death now under investigation by the FBI and US Inspector-General.
The Duke of York's longtime friendship with the convicted sex offender has led in the past to unwanted headlines for Buckingham Palace, particularly concerning allegations from Virginia Giuffre that Epstein paid her to have sex with the prince almost two decades ago, when she was 17.
She added: "And so then I sat on Andrew's lap - and I believe on my own volition - and they took the puppet's hands and put it on Virginia's breast, and so Andrew put his on mine".
With Epstein now dead after a suspected suicide on Saturday, and Maxwell apparently outside the reach of investigators, hiding from the limelight she once embraced, the Duke of York may be the highest-profile member of Epstein's circle from the time of the allegations against him.
It was among more than 2,000 pages of bombshell testimony that related to a defamation case filed by Virginia Giuffre, who claimed to have had sex with Prince Andrew "three times".
Maxwell denied any misconduct in her deposition, "A very small part of my job was, from time to time, to find adult professional massage therapists for Jeffrey".
"It is a shame that Epstein will not face justice, and the survivors in this case will not have the satisfaction of his conviction", Scott Berkowitz, president of RAINN - one of the largest anti-sexual violence organizations in the nation - told CNN.
In 2007, Dershowitz, now 80, helped broker the plea deal that saw Epstein spend just 13 months in a county jail in Florida after admitting a single state charge of soliciting prostitution from a minor.
At the MCC, two jail guards are required to make separate checks on all prisoners every 30 minutes, but that procedure was not followed overnight, according to the source.
"To be clear, in Governor Richardson's limited interactions with Mr. Epstein, he never saw him in the presence of young or underage girls".
Giuffre wrote: "Always the instigator of a good joke but unable to take one herself, [Maxwell] didn't like when poked back that it was more in her recent taste of men, since she loved to brag about her rendezvous with her various lovers".
Epstein's death came one day after the release of a trove of previously sealed legal documents that revealed names of prominent businessmen and politicians who were associated with Epstein over the years, Miami Herald reporter Julie K. Brown told NPR's Weekend Edition. When Giuffre said she had no experience or credentials, she recalled Maxwell said: "We can train you". "These allegations and inferences are completely false", she said.
Giuffre, now 36, testified that she had sex with Britain's Prince Andrew when she was underage, an allegation Buckingham Palace has repeatedly and strenuously denied.
Giuffre and the others are hopeful the government will focus its investigation on those who allegedly facilitated or participated in "Epstein's horrifying sex trafficking scheme", McCawley said.
His acquaintances, at various moments, included President Donald Trump, Stephen Hawking and Prince Andrew, the Duke of York.
One of the Florida prosecutors, Alexander Acosta, resigned as USA labour secretary in July as the deal came under fresh scrutiny after Epstein's arrest in NY.
The FBI has said it will investigate Epstein's death.