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 "gross" that Hugh Hefner didn't want to use protection during group sex.
• Madison made the accusation in an episode of "Secrets of Playboy" premiering Monday.

Holly Madison said she thought it was "really gross" that her ex Hugh Hefner "didn't want to use protection" during group sex with her and other women at the Playboy mansion.

Madison made the accusation about Hefner's condom use in an episode of the A&E docuseries "Secrets of Playboy" premiering Monday.

The reality star, 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," went on to describe the first time she had sex with Hefner and other women, 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," she 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 tweeted a statement in defense of his father on Monday ahead of the docuseries' premiere.

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

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

"I was wasted. He was literally pushed on top of me," Madison said. "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 wrote in her 2015 memoir, "Down the Rabbit Hole," about her first experience having sex with Hefner.

In a statement to E! News at the time, Hefner, who said he hadn't spoken to Madison in four years, said 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."

Madison told E! News in 2015 that she "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."

"I was just the one who was quiet for so long," she added.

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