Judy Huth's sexual battery lawsuit does not specify how much she is seeking from Cosby, who has been accused by multiple women of sexual misconduct in recent weeks.
Huth's lawsuit filed in Los Angeles Superior Court, however, is the first time that a woman has claimed she was underage when she was abused, and it is the first lawsuit Cosby has faced claiming sexual abuse since 2005.
Huth's lawsuit states that she and a 16-year-old friend first met Cosby at a Los Angeles-area film shoot and the comedian gave them drinks a week later at a tennis club.
The lawsuit states that Cosby took them to the Playboy Mansion after several drinks. Her lawsuit states Cosby forced her to perform a sex act on him with his hand.
An email message sent to Cosby's attorney Martin Singer was not immediately returned.
Huth claims she suffered severe emotional distress and that she discovered its impact on her within the past three years, which allows her to file the lawsuit under California law.
"This traumatic incident, at such a tender age, has caused psychological damage and mental anguish for (Huth) that has caused significant problems throughout her life," the lawsuit states.