Michael Jackson's friend has accused the late star of molestation.

Wade Robson has filed a claim demanding money from the Michael Jackson Estate as payment for the singer sexually abusing children, TMZ reports.

The 30-year-old choreographer was just five when he met Michael - who died from Propofol intoxication in June 2009 - and was a regular visitor to the pop sensation's various homes from when he was seven to when he turned 14, during which he declares he witnessed childhood molestation.

While the last date to file against the estate has already passed, Wade is still keen to proceed and has requested the opportunity to file a late creditor's claim.

Although being kept private, it is thought the document contains an affidavit San Francisco-based child psychiatrist Dr. David Arrendondo as well as specially outlining the reported mistreatment.

Lawyer Tom Mesereau, who defended Michael during his 2005 child molestation trial, thinks Wade is being ''absurd'' after previously defending the musician, with back up from his sister and mother.

He said: ''It's absurd. He was one of the strongest witnesses for the defence at Michael Jackson's criminal trial in 2005. He was adamant under oath that he had never been molested at any time.

''He withstood very aggressive cross-examination by the prosecutor. He stood his ground and never wavered in saying Michael Jackson had done absolutely nothing improper to him.''