Former Sesame Street actor Kevin Clash, who left the show last year, has been accused of hosting a “crystal meth sex party” with a teenage boy.

Clash, 52, resigned from the long-running US children’s show in November 2012, in the wake of allegations that he had sex with an underage youth.

In a lawsuit filed on Monday in a Pennsylvania district court, Sheldon Stephens claimed that he met Clash in 2004 at “a social networking event for models and actors.”

Stephens, who was 16 at the time, alleges Clash “lured” him to New York for sexual encounters.

The lawsuit reads: “Clash smoked crystal meth while engaging in sexual activity with Sheldon. Clash also gave Sheldon poppers as a sexual aide.

“While Clash had sexual contact with Sheldon, the chauffeur watched and masturbated.”

Sheldon Stephens first made the allegations last year.

His lawyer, Jeff Herman, said Stephens recanted over the possibility of a settlement, but none was ever reached.

Clash’s lawyer, Michael Berger, said in a statement: “This lawsuit is meritless and barred by the statute of limitations. This case has been brought by the same lawyer, Jeff Herman, who brought three other similar cases in federal courts in New York, and we have moved to dismiss all three of those cases.

“Sheldon Stephens, the plaintiff, has already admitted in writing that he had ‘an adult consensual relationship’ with Mr Clash.

“Mr Clash continues to deny any wrongdoing, and we intend to defend this case forcefully.”

Stephens is seeking unspecified damages in excess of $75,000 (£49,460).

This is the fourth lawsuit that Clash has faced since November, all of which accused him of having sex with underage males.