Tim Allen denies Pamela Anderson’s claim that he flashed his penis at her

Tim Allen has denied Pamela Anderson's claim he once flashed his penis at her on the set of a family TV show.

The Baywatch star is about to release her memoir Love Pamela at the end of the month, in which she discusses the alleged incident.

The actor had appeared in a few episodes of the family sitcom, playing Lisa, the 'Tool Time Girl', but left after two seasons when she landed the part of CJ Parker on Baywatch.

Before her stint on Home Improvement, Pamela shot to fame through her appearances on Playboy magazine, totting up more cover shoots than any other model.

In an extract seen by Variety, she wrote: "On the first day of filming, I walked out of my dressing room, and Tim was in the hallway in his robe.

"He opened his robe and flashed me quickly - completely naked underneath. He said it was only fair, because he had seen me naked. Now we’re even. I laughed uncomfortably."

In a statement to Variety, Tim denied the incident ever took place, insisting: "No, it never happened. I would never do such a thing."

Alongside her memoir, Pamela is coming out with her own Netflix documentary Pamela, a love story.

At one point, Pamela confesses that she 'never got over' the breakdown of her marriage with Mötley Crüe drummer Tommy Lee.

“I think what it all comes down to is that I never got over not being able to make it work with the father of my kids," she says in the documentary.

"And even though I thought I could recreate a family or fall in love with somebody else, it’s just not me.

“It’s impossible to be with anybody else. But I don’t think I could be with Tommy either.”

Pam and Tommy famously married on a beach in Cancun, Mexico just four days after meeting, and were together for three years before calling it quits.

Before they ended things, Pamela and Tommy welcomed their sons Brandon Thomas and Dylan Jagger.

Pamela, a love story will be released on Tuesday 31 January on Netflix.