A "mystery brunette" seen with The Duke of York at the home Jeffrey Epstein has been named as the daughter of an ex-Australian PM.

Katherine Keating, whose father is 1990s politician Paul Keating, is understood to say she was only taking tea with Prince Andrew at the New York mansion of the US paedophile and billionaire.

A video, obtained by MailOnline, showed Ms Keating being waved off by the duke as he looked out of Epstein's home, near Central Park. It was shot in December 2010 - after Esptein was first convicted.

READ MORE: Rosemary Goring: Prince Andrew must end his silence on Epstein

The disgranced financier died in jail earlier this month. Prince Andrew has faced questions over his relationship with the man. 

The duke , it emerged, had welcomed the since-disgraced billionaire, who was later convicted of being a paedophile, to the Queen's private Scottish retreat in Aberdeenshire in 1999, the Daily Mail newspaper reported.

Andrew said on Sunday that he was "appalled" by recent sex abuse claims surrounding his former friend, who killed himself in prison earlier this month.

A Buckingham Palace statement said: "The Duke of York has been appalled by the recent reports of Jeffrey Epstein's alleged crimes.

"His Royal Highness deplores the exploitation of any human being and the suggestion he would condone, participate in or encourage any such behaviour is abhorrent."

Prince Andrew has been dogged by accusations of a lack of judgment about his links with Epstein.

Buckingham Palace has issued strong denials over claims from a woman who said she was forced to have under-age sex with the duke.

Virginia Roberts alleged in court papers 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.

She alleged she had sex with Andrew "three times, including one orgy" in London, at Epstein's New York home, and at an "orgy" on his private island in the Caribbean.

READ MORE: Kirsty Strickland: The dark lesson that the Jeffrey Epstein case can teach Scotland

But Buckingham Palace has branded the allegations "false and without any foundation", stating: "Any suggestion of impropriety with under-age minors" by the duke was "categorically untrue".

In June 2000, Epstein and Ghislaine Maxwell attended a party at Windsor Castle hosted by the Queen to mark Andrew's 40th birthday, the Princess Royal's 50th, the Queen Mother's 100th and Princess Margaret's 70th.

The celebration was held on Prince William's 18th birthday, but William was not at the party because he was revising for his A-levels.

Epstein, 66, killed himself in his jail cell in New York earlier this month after being charged with sex trafficking.