"I do not recall ever encountering Mr Epstein. I never flew on his plane or visited his island, homes or offices. I have nothing to add to that," Clinton said in a statement to the House of Representatives Oversight Committee she shared on social media.
"Like every decent person," Clinton added, "I have been horrified by what we have learned about their crimes."
After the hearing, Clinton expressed frustration at the repetitive nature of the questioning but said she had tried to answer "as fully as I could" everything that was asked of her.
"I don't know how many times I had to say I did not know Jeffrey Epstein, I never went to his island, I never went to his homes, I never went to his offices," she told reporters outside the hearing in Chappaqua, New York.
"I never met Jeffrey Epstein. I never had any connection or communication with him.
"It then got, at the end, quite unusual because I started being asked about UFOs and a series of questions about Pizzagate, one of the most vile, bogus conspiracy theories that was propagated on the internet."
The hearing was paused at one stage on Thursday after Republican Lauren Boebert sent a photo of the closed-door proceedings to a conservative influencer, violating the committee's rules for depositions.
Benny Johnson, a right-wing Youtuber, posted a photo of Clinton at the deposition online and said Boebert had provided it.
The incident prompted the former secretary of state to repeat her longstanding demand that the deposition be made open to reporters.
"We had asked for that. We think it would have been better for the committee in their efforts to gather whatever information they are seeking," she said.
Chair James Comer said Clinton answered most of the committee's questions and efforts would be made to get the video out within the next 24 hours.
He said the transcript would be released once approved by her attorneys.
"I think this was a productive deposition today. I think we learned a lot," he said.
In her statement, Clinton, the 2016 Democratic presidential nominee, also accused the Republican-led panel of trying to shift focus away from Trump's ties to Epstein, who died by suicide in jail in 2019 while awaiting trial on federal sex-trafficking charges.
She said Trump's administration had "gutted" a State Department office focused on international sex trafficking.
She and her husband, Democratic former President Bill Clinton, initially refused to testify before the committee, but relented when lawmakers moved to hold them in contempt of Congress. Bill Clinton is scheduled to testify on Friday.
Before the hearing, Comer denied that the probe was a partisan effort targeting Trump's 2016 presidential rival, noting that several Democrats had pushed for the Clintons to testify.
Bill Clinton flew on Epstein's plane several times in the early 2000s after he left office. He has denied wrongdoing and expressed regret for his association.
According to Comer, Epstein visited the White House 17 times while Clinton was in office.
Trump also socialised extensively with Epstein in the 1990s and 2000s, before the latter's 2008 conviction for soliciting prostitution from a minor.
Comer said evidence gathered by the panel does not implicate Trump.
Trump's Justice Department has released more than three million pages of Epstein-related documents over the past several months to comply with a law passed by Congress.
The Justice Department sought to draw attention to photos of Bill Clinton, but the documents also have revealed Epstein's ties to a long list of business and political leaders, including Commerce Secretary Howard Lutnick and Tesla CEO Elon Musk.
Overseas, they have prompted criminal investigations of Britain's Andrew Mountbatten-Windsor, the former duke of York, and other prominent figures.
