The Duke of York’s alleged obsession with her toes made her ‘burst out laughing’ but she ‘drew a line at extreme fetishes involving her tongue and feet’.
Ms Roberts, who claims Epstein trafficked her to the Prince when she was just 17, made the explosive allegations in New York court documents unsealed last week.
Her manuscript says: ‘I drew a line with extreme fetishes, especially ones that would involve my tongue and feet in the same sentence.
‘It wasn’t hard to get him wound up to the point where he just wanted to have the rest of me so we dried off from the cold and retired to my bedchambers for the longest ten minutes of my life.’
She continued: ‘Moments later and without any real emotional attachment, he burst in ecstasy, leaving me to my own feelings of dismay.
‘As relieved as I was to see the experience come to pass with him, it was finally sinking in that I would never be anything more than but a muse.’
Prince Andrew, Virginia Roberts, aged 17, and Ghislaine Maxwell at her townhouse in London on March 13, 2001
Ms Roberts (pictured), who claims Epstein trafficked her to the Prince when she was just 17, made the explosive allegations in New York court documents unsealed last week
Ms Roberts, now Giuffre, alleges she was Epstein and ‘madam’ Ghislaine Maxwell’s sex slave for years from 2000.
The 36-year-old claims she was abused by the billionaire financier – who killed himself in a New York prison cell last August – and his powerful friends.
She alleges she met Andrew in London in 2001 and was forced to have sex with him at Maxwell’s Belgravia townhouse.
Prince Andrew and Maxwell have both denied the allegations.
The court documents quote from the manuscript of Ms Roberts’s 139-page memoirs The Billionaire Playboy’s Club, which was handed over as part of a defamation case she made against Maxwell in 2015 after she was accused of lying.
Epstein and his ‘madam’ Ghislaine Maxwell presented Andrew with a Spitting Image puppet from the satirical TV show in April 2001
In the book, Ms Roberts claims she and the Prince bathed together as he paid close attention to her feet.
She wrote he ‘was adorning my young body, particularly my feet, caressing my toes and licking my arches’.
She later talks about her chats with Epstein when she returned to the US, saying the convicted paedophile did not want to know ‘the grim details’.
She wrote: ‘Jeffrey didn’t want to know the grim details of how it all happened on my intimate night with the Prince, he just asked simply if I thought that I did well in keeping his friend happy.
‘Knowing already that the evaluation of my performance was already discussed between them, I just as simply replied back with a nod of approval.
‘Though I did have a laugh with Jeffrey about the Prince’s weird fixation on my feet and lets just say that he was quite tickled with Andrew’s quirky obsession, having a good ol’ chuckle at my eccentric encounter.’
She added that in another meeting with the Duke in New York she and another young woman sat on his knee for a picture.
She claims it was meant to give ‘the impression girls couldn’t stay away from Randy Andy’.
A source close to Andrew told The Sun the documents should be read with caution and the Prince had been ‘falsely accused for many years’.
They added people around the Duke knew he would be ‘exonerated and vindicated in the weeks ahead’, with the court paper claims being ‘likely highly inaccurate’.
Ms Roberts’s defamation case against Maxwell was settled in 2017 before it reached a trial.
Two thousands pages of evidence had been released but about 900 were redacted or sealed.
Ms Roberts called for some to be uncovered in separate lawsuits, but Maxwell wanted 94 pages kept secret due to the ‘extremely personal’ details the had.
Judge Loretta Preska ruled in New York last month they should be unsealed.
Maxwell, who is locked up in New York awaiting trial for charges over enticement of minors, sex trafficking of children, and perjury, has denied any wrongdoing.
It comes two days after allegations emerged the Prince used a Spitting Image puppet of himself to grope two of Epstein‘s sex slaves.
The Duke is accused of using a Spitting Image puppet of himself to grope Virginia Roberts and another woman
The stunning accusations are also from Ms Roberts’s manuscript for her book.
In it, she alleges Epstein and his ‘madam’ Ghislaine Maxwell presented Andrew with a Spitting Image puppet from the satirical TV show in April 2001.
He then allegedly used the puppet to grope Ms Roberts and Johanna Sjoberg in Epstein’s opulent first floor study in his New York home, dubbed the ‘House of Horrors’, before being taken to ‘the dungeon’ for an erotic massage from her.
The Duke has always strenuously denied having sex with Roberts and any other wrongdoing, though he is yet to comment on the latest allegations.
Buckingham Palace was contacted for comment.
In bombshell documents, Ms Roberts wrote in her book she was summoned to the property by Maxwell.
She wrote: ‘Prince Andrew had that notorious cheesy grin slapped over his face, as he looked me up and down like a shiny new car on display and he was about to take it for a test drive.
‘Ghislaine led me to the decadent sofa he was lounging on and twirled me around to give him a good look over before sitting me down on his lap.
Miss Roberts says she was forced to have sex with Andrew after they left the Tramp nightspot (file photo) in central London in 2001
Pictures of the room in which the women claim to have been abused emerged after Epstein’s New York home, dubbed the House of Horrors, was put up for £69 million
‘It was easy to give them the reaction they desired, all I had to do was pretend to be entertained by their lewd gestures, and when Andrew cupped my breast with a doll made in his image, I only giggled away.’
She added another woman, Johanna Sjoberg, was also made to sit on Andrew’s lap and was fondled with the puppet.
Sjoberg has previously described the encounter with Andrew and his Spitting Image puppet.
Inside the ‘House of Horrors’
Visitors to Jeffrey Epstein’s ‘House of Horrors’ were confronted by ‘creepy’ interior decor, including artificial eyeballs and a portrait of Bill Clinton in a dress.
The entry foyer to the Manhattan mansion was decorated with fake eyeballs.
Even more bizarre is a portrait of former US president Clinton – a friend of Epstein – in heels and the infamous stained blue dress worn by Monica Lewinsky when she performed a sex act on him.
There were prosthetic breasts on the wall of a bathroom for Epstein to play with, according to one of his victims.
His study had photos of his famous friends – including Woody Allen, who has been accused of child sexual assault – as well as a stuffed tiger and a poodle.
Behind his desk was a painting of a topless woman by artist Kees van Dongen, bought for $6million in 2004.
But Epstein’s sinister ‘pride and joy’ was a gigantic chessboard with scantily-clad figurines modelled on his female staff.
She made the comments in a 2016 deposition in Roberts’ civil defamation case against Maxwell, from which the newly released documents are taken.
Sjoberg said on oath: ‘I sat on Andrew’s lap… they took the puppet’s hands and put it on Virginia’s breast, and so Andrew put his on mine.’
Afterwards, Roberts claims she was forced to take the Duke to ‘the dungeon’ for an erotic massage, describing how Andrew ‘disrobed’ and showed signs of ‘arousal’.
Pictures of the room in which the women claim to have been abused emerged after Epstein’s New York home, dubbed the House of Horrors, was put up for £69million.
The claims come after a royal insider dismissed a new witness’s claims Andrew was in a nightclub with Ms Roberts on the night he is accused of having sex with her – not at Pizza Express as the Prince claims.
Shukri Walker claimed the duke danced and chatted with Epstein’s victim – and is certain it was the Prince because she stepped on his foot and then apologised.
But a royal insider dismissed her claim, telling MailOnline: ‘It’s interesting to see how many people have razor sharp recollections of events that took place some 20 years ago – it’s difficult to believe that these events can be remembered with such clarity at this distance.’
Ms Roberts says she was forced to have sex with Andrew after they left the Tramp nightspot in central London in 2001.
The Prince denies the claims and says he was not even in the Mayfair club that night because he had taken daughter Beatrice to Pizza Express in Woking, Surrey.
The events of March 10 are at the heart of the allegations against Andrew. Ms Roberts was a ‘sex slave’ of the Duke’s friend, paedophile Epstein.
Miss Walker told the Sun: ‘I remember him dancing and chatting with the young girl.’ She said she remembered the night because at one point she trod on Andrew’s foot.
Miss Walker said she had decided to speak out after seeing the Prince’s infamous Newsnight interview with Emily Maitlis last year, in which he denied having sex with the then 17-year-old Miss Roberts.
She contacted Lisa Bloom, an American lawyer who represents some of Epstein’s victims. The lawyer has reportedly passed on the witness account to the FBI.
Maxwell, 58, pleaded not guilty to helping Epstein recruit and abuse three girls from 1994 to 1997, and committing perjury by denying her involvement under oath.
She was arrested on July 2, and has been housed in a Brooklyn jail after a judge called her a flight risk. Maxwell’s trial is scheduled for next July.
Epstein was found hanged at age 66 last August in a Manhattan jail, while awaiting trial on sex trafficking charges for abusing women and girls in Manhattan and Florida from 2002 to 2005. He had also pleaded not guilty.