Holly Madison says Hugh Hefner refused to use protection during group sex with her and other women at the Playboy mansion

• Holly Madison said it was "really gross" to her that Hugh Hefner didn't "want" to use protection during group sex.
• The reality star made the accusation in a new episode of "Secrets of Playboy" premiering Monday.
• Reps for Hefner's estate and Playboy didn't immediately respond to Insider's requests for comment.

Holly Madison said her ex, the late Hugh Hefner, didn't "want" to use protection during group sex with her and other women at the Playboy mansion.

In a new episode of the A&E docuseries "Secrets of Playboy" premiering Monday, Madison said Hefner's attitude towards wearing condoms during intercourse was distasteful to her. 

The "Down the Rabbit Hole" author, who lived with Hefner at the mansion as one of his main girlfriends from 2001 to 2008 and appeared with him on the E! reality show "The Girls Next Door," said in an interview for the docuseries that it was "really gross" to her how Hefner "didn't want to use protection."

Madison went on to describe the first time she had sex with Hefner and other women, which occurred after they all returned to the mansion from a night out. 

"There was definitely no romance or seduction or anything like that. It was dark in the room, but there was a giant movie screen of porn in front of the bed," the former reality star said. "He was in the middle of the bed, and then the women were surrounding him." 

"It was all very mechanical and robotic and you would kind of follow the other women's lead," Madison added. "The impact it had on me was so heavy. I never expected to be the first person to have sex that night, or to be pushed into it." 

Hefner died of natural causes in 2017. He was 91.

Representatives for Playboy and Hefner's estate didn't immediately respond to Insider's requests for comment, though Hefner's son Cooper Hefner issued a statement in defense of his late father via Twitter on Monday ahead of the docuseries' premiere.

In the statement, Cooper called the "salacious stories" about his father "a case study of regret becoming revenge."

Madison previously opened up about her first sexual encounter with Hefner during an episode of the "Power: Hugh Hefner" podcast in December.

"I was wasted. He was literally pushed on top of me," Madison said on the December podcast episode of her first time having sex with the Playboy founder. "After it happened, I was just mortified and embarrassed, and it had way more of an emotional impact on me than I thought it would." 

Madison also spoke about her first experience having sex with Hefner in her 2015 memoir, "Down the Rabbit Hole."

In a statement to E! News at the time, Hefner, who said he hadn't spoken to Madison in four years by then, responded to Madison's claims, saying that while he'd remained "dear friends" with many of the "wonderful women" he'd had romantic relationships with, a few "have chosen to rewrite history in an attempt to stay in the spotlight."

"I wanted a chance to just tell my story and talk about where I was coming from and kind of set the record straight because I feel like everybody else in that situation had the chance to do so and I never did," Madison told E! News in 2015 about why she penned her memoir. "I was just the one who was quiet for so long."

"Secrets of Playboy" premieres Monday on A&E. You can watch the trailer below.