"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."
Clinton's statement came as she was due to deliver a closed-door deposition to the committee in Chappaqua, New York.
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 has "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 to the committee on Friday.
Before the hearing, Oversight Committee Chairman James Comer of Kentucky, a Republican, 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.
Comer has said transcripts of their interviews will be made public.
Representative Robert Garcia of California, the top Democrat on the committee, told reporters that Trump and Commerce Secretary Howard Lutnick should also testify. Lutnick has admitted to visiting Epstein's private island years after he says he broke off ties.
Hillary Clinton's ties to Epstein are unclear. 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 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.
