A second woman has claimed that Jeffrey Epstein sent her to the UK to have a sexual encounter with Andrew Mountbatten-Windsor, her US lawyer has said, as pressure on the British government to have the former prince give evidence to the US Congress increased.

The woman, who is not British, said she spent a night at the royal lodge, the Royal Lodge, in 2010, her US lawyer, Brad Edwards, told the BBC. Edwards, from the Florida-based law firm Edwards Henderson, said after spending the night with Mountbatten-Windsor, the woman claimed she was given a tour of Buckingham Palace and a cup of tea.

"We are talking about at least one woman that Jeffrey Epstein sent to Prince Andrew. She even had a tour of Buckingham Palace after spending the night with Prince Andrew", Edwards told the broadcaster.

The BBC News said it had not received a response from Mountbatten-Windsor on a request for comment on the allegation, and although the palace usually records the names of visitors on tours, it was impossible to confirm the woman’s visit without revealing her identity.

Edwards told the BBC he was considering filing a civil lawsuit on behalf of the woman against the former prince.

Edwards, who is likely to represent dozens of Epstein survivors around the world, represented Virginia Giuffre, who claimed she was sent to London to have a sexual encounter with Mountbatten-Windsor when she was 17 in 2001. Giuffre claimed she had sex with Prince Andrew twice in 2001 and 2002, once in New York and once on Epstein’s private Caribbean island. She took her own life last April.

Mountbatten-Windsor denied Giuffre’s allegations and any wrongdoing linked to Epstein. Epstein, a convicted sex offender, died in a Manhattan jail in 2019.

Mountbatten-Windsor, who was stripped of his royal titles last year over his friendship with Epstein, is prominently featured in the latest batch of Epstein files released by the US department of justice on Friday.

Last year a US congressional panel investigating Epstein said he had written to Mountbatten-Windsor asking him to give evidence as part of an inquiry into his criminal activities.

The UK prime minister, Keir Starmer, said Mountbatten-Windsor "should be prepared" to give evidence on his links to Epstein. Speaking on the final leg of a tour of east Asia, Starmer said: "I’ve always said that if you’re going to be victim-centred, you’ve got to be prepared to do it, in the form that you’re asked to do it, because you can’t be victim-centred if you’re not prepared to do it."

A US justice department document from April 2020 said the US authorities were prepared to interview Mountbatten-Windsor under a "profiler letter" if he requested it. They were seeking to interview him as a witness. In US law, a "profiler letter" does not provide immunity but it sets out the conditions under which the US authorities would not use his testimony against him.

Steve Reed, the minister for housing, said Mountbatten-Windsor clearly has information about what was going on. Asked by Sky News’s Sunday Morning with Trevor Phillips programme if the government would comply with a US extradition request for Andrew if it were made, Reed said: "You’re now asking me to go into legislative detail about something that may or may not be a crime. That’s completely hypothetical."

Reed added, pressing the prime minister’s insistence that the Epstein inquiry be "victim-centred", "But the principle here is very, very clear: Andrew Mountbatten-Windsor clearly has information about what was going on and he should give evidence because the victims need it and need any other people who may have witnessed events to do it."

Reed also spoke about new images that have emerged showing a naked Mountbatten-Windsor crouching on all fours over the head of a woman, saying they were "very disturbing".

The shadow secretary of state for the north, Chris Philip, said Mountbatten-Windsor and Lord Mendlson "should give all possible assistance" to the Jeffrey Epstein inquiry. "It’s really disturbing to see just how wide-ranging Jeffrey Epstein’s evil activities were. It’s disturbing to see just how many people were involved in his network", he said.

Giuffre filed a civil lawsuit against Mountbatten-Windsor in the US in 2021 and settled the case for an alleged $12m in February 2022.

The Guardian attempted to contact Mountbatten-Windsor for comment.