Elon Musk's father has been accused of sexually abusing five of his children and stepchildren since 1993, including one he allegedly touched when she was four years old - who he later had a child with.

The explosive allegations against Errol Musk, 79, are allegedly why the tech billionaire and Tesla founder has kept his distance from his estranged father over the years.

Despite being outspoken on social media, the 54-year-old mogul has rarely delved into his strained relationship with his father.

Errol made headlines when he had a baby with his own stepdaughter, who was 40 years younger than him.

The accusations have repeatedly seeped into Elon's life, reported the New York Times, which has seen more than 50 personal letters and emails and has conducted interviews with relatives.