Numerous young girls were lured to his mansion in New York City's Upper East Side and enticed to perform sex acts for hundreds of dollars in cash, according to the U.S. Attorney's Office for the Southern District of New York.
Epstein had been awaiting trial after pleading not guilty to sex trafficking and conspiracy charges.
The billionaire financier is suspected of running a massive network of sex trafficking in which he would trade underage girls.
Asked if he was a member of Mar-a-Lago in 2000, he replied once again, "Fifth", according to the transcript.
After Epstein's arrest, prosecutors said a search of his townhouse, conducted under a warrant, uncovered evidence of hundreds, and perhaps thousands, of nude photographs of "what appeared to be underage girls", including some photos catalogued on compact discs and kept in a locked safe.
On Friday, more than 2,000 pages of documents were released related to a since-settled lawsuit against Epstein's ex-girlfriend by Virginia Giuffre, one of Epstein's accusers.
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"It's possible that other people who conspired to protect Epstein, destroy evidence, pay off witnesses, or otherwise facilitate his sexual trafficking and predatory pedophilia may be charged", said attorney Josh Schiller of Boies Schiller Flexner LLP in Manhattan, whose firm represents nine victims. The FBI is investigating the incident.
Lawyers said he sexually abused dozens of underage girls between 2003 to 2005.
Ms Giuffre's lawyers said: "Ms Sjoberg's testimony also corroborates Ms Giuffre's account of being lent out to Prince Andrew by (Maxwell)".
Lawyers for Maxwell did not respond to several phone and email requests for comment.
U.S. Attorney General William Barr said in a statement on Saturday he was "appalled" to learn of Jeffrey Epstein's death from an apparent suicide while in federal custody. Labor Secretary Alexander Acosta resigned last month after coming under fire for overseeing that deal when he was USA lawyer in Miami.
He previously avoided federal criminal charges in 2008 after prosecutors brokered a widely criticized deal that allowed him to plea to solicitation of prostitution from a minor and serve 13 months in jail. Acosta was a federal prosecutor in Florida at the time.
Epstein is also accused of paying off possible co-conspirators to "influence" them, USA media have reported.
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