Sesame Workshop said Monday a 23-year-old man told the show's producer in June he had a sexual relationship with Clash, 53, that began when he was 16.
Pittsburgh law firm Andreozzi & Associates said in a statement Tuesday their client "wants it to be known that his sexual relationship with Mr. Clash was an adult consensual relationship," The New York Times reported.
"He will have no further comment on the matter," the law firm said.
"We are pleased that this matter has been brought to a close, and we are happy that Kevin can move on from this unfortunate episode," Sesame Workshop said in statement.
The show said it thoroughly investigated the allegations and found them to be false. Clash was granted a leave of absence Monday to "take actions to protect his reputation."
"I am relieved that this painful allegation has been put to rest. I will not discuss it further," a spokeswoman for Clash said.