Bill Cosby has been accused of sexually assaulting a girl, aged 15.
The actor's lawyer was unavailable for comment when contacted by The Independent.
Judy Huth has filed a lawsuit in US Superior Court in Los Angeles claiming sexual battery, intentional infliction of emotional distress and negligent infliction of emotional distress. She is demanding a jury trial and an unlimited amount of compensatory damages.
The incident allegedly took place around 1974.
Court papers obtained by People claim that Huth and her 16-year-old girlfriend were approached by Cosby when they were watching the production of a film he was making in a South Californian park.
Huth claims she told the actor of their ages, but he still allegedly invited them to his tennis club the following weekend.
According to the lawsuit, Cosby gave the teens alcohol before taking them to the Playboy Mansion after meeting them at a club. Huth claims that after leaving the toilet, she was met by the actor in a co-joining bedroom.
He then allegedly proceeded to "sexually molest her by attempting to put his hand down her pants, and then taking her hand in his hand and performing a sex act on himself without her consent."
Bill Cosby: Career in pictures
Bill Cosby: Career in pictures
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Winner of his first Emmy for 'I Spy' is Bill Cosby being congratulated by his wife Camille held at Americana Hotel, 1966
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Bill Cosby in 'I Spy', 1960s
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Bill Cosby in July 1973 in Perth
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Bill Cosby and Richard Pryor in 'California Suite', 1978
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Bill Cosby and Elmo in Sesame Street, 1989
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Bill Cosby poses for a picture with Florence Griffith-Joyner in June 1989
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Comedian Bill Cosby back in 1992
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A scene from a 1992 episode of 'The Cosby Show'
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US Monica Seles breaks into laughter as she jokes with comedian Bill Cosby during a celebrity match in the stadium at the US Open for the Arthur Ashe AIDS Challenge on 27 August 1995
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Bill Cosby meets Toronto Blue Jays' All-Star Joe Carter after the Stars played the Stripes in the Celebrity All-Star game which preceded workouts for the 67th All-Star Game at Veterans Stadium on 8 July 1996 in Philadephia
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Co-hosts Oprah Winfrey and Bill Cosby joke with each other during the opening of the 2000 Essence Awards 14 April 2000 at Radio City Music Hall in New York City
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Bill Cosby jokes with baseball great Hank Aaron after they both received the Presidential Medal of Freedom Award from U.S. President George W. Bush during a ceremony on 9 July 2002 at the White House in Washington
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Bill Cosby poses backstage after winning the 'Bob Hope Humanitarian Award' during the 55th Annual Primetime Emmy Awards at the Shrine Auditorium on 21 September 2003 in Los Angeles
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'Tonight Show' host Jay Leno and comedian Bill Cosby laugh during a surprise visit by Cosby to sign a Harley-Davidson motorcycle that Leno is using to raise money for the victims of Hurricane Katrina at NBC studios on 9 September 2005 in Burbank, California
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Bill Cosby speaks during a taping of 'Meet the Press' at the NBC studios on 14 October 2007 in Washington
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Bill Cosby at the 12th annual Mark Twain Prize for American Humor at the John F. Kennedy Center on 26 October 2009 in Washington
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Bill Cosby speaks at the National Action Network's 20th annual Keepers of the Dream Awards gala in New York on 6 April 2011
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Bill Cosby during the 100th anniversary celebration of the Beverly Hills Hotel & Bungalows supporting the Motion Picture & Television Fund and the American Comedy Fund, 2012
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Bill Cosby speaks onstage at the Thurgood Marshall College Fund 25th Awards Gala on 11 November 2013 in Washington
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Bill Cosby performs at the Treasure Island Hotel & Casino on 26 September 2014 in Las Vegas
Huth – who only recalled the incident three years ago – said that the alleged assault was the cause of "mental anguish" and "significant problems throughout her life".
Although Huth is one of numerous women to accuse the actor of sexual assault over the past few months, she is the first underage woman to have made claims against him.
Cosby has denied previous claims made against him. He has defended himself, saying that "people need to fact check". His lawyer has described the allegations as "decades old" and "discredited".
This week the actor stepped down from the board of alma mater at Temple University amid the allegations.
In 2006, Andrea Constand claimed that Cosby had drugged and assaulted her in his Philadelphia mansion in 2004 - allegations firmly denied by his lawyers. Over 13 alleged victims were proposing to testify but the civil case with Constand settled in 2006. The terms of the settlement remain undisclosed.
Cosby has never been arrested or charged with any offence arising from the allegations.Reuse content