Woman who claims she was Bill Cosby’s mistress for 3 years defends him: 'He never drugged me'

Teresa Taylor claims she had a relationship with Bill Cosby for three years, starting in 1979. She is defending the comedian against claims from multiple women that he drugged and sexually assaulted them, despite recent court testimony that reveals Cosby admitted to purchasing drugs to give to women he wanted to sleep with.

“What I’ve seen happening in the press about him is so disheartening. He is a kind man. I have never spoken about my personal life before and I needed to say that,” she told FOX411 exclusively. “Do I believe half of the women? No.”

Taylor speculated that a man with Cosby’s fame would not have a hard time finding women to have sex with.

“I respect the women and I can’t dispute it but I don’t believe a lot of it,” she said. “He didn’t need to do anything to get women to sleep with him. Women are attracted to men with money and power. At the time he was one of the most powerful men in Hollywood.”

The former actress claims she met Cosby backstage while he was guest hosting “The Tonight Show” in 1979. The then 19-year-old tells us caught the attention of the married star, who she says asked her to go to dinner with him after the taping.  Taylor said she agreed to the alleged date because she was flattered to receive attention from the megastar. She claims after that night, the pair dated for three years.

Taylor also alleges the two went on double dates with Hugh Hefner and his former flame Barbi Benton at the Playboy Mansion. The Playboy mansion and Hefner declined to comment. Benton did not return FOX411’s request for comment.

“He was so respectful towards me,” Taylor said. “He never drugged me or offered me quaaludes. I was young and he took care of me – sometimes financially. He was good to my family. My mom had pictures of Bill all over the house.”

Taylor claims Cosby paid for her to fly to Ohio to visit her mother, and that her divorced mother embraced their alleged romance.

“My mother knew I was alone in Hollywood and I believe she felt safe knowing Cosby was there for me,” Taylor told us.

Taylor claims she was under the impression that she had a romance with the famed sitcom star.

“I truly loved and cared for him. I was 19. I didn’t even know the word mistress,” she said. “I actually believed he would leave his wife for me but they never leave.”

As for whether Cosby’s wife, Camille, knew of his alleged extramarital activities, Taylor claims she did.

“She knew,” Taylor told us. “She chose not to acknowledge it.”

The 56-year-old claims she and Cosby parted ways amicably and remained friends for more than a decade. She told us she has since left the glitz and glamour of Hollywood behind and she now lives in New York with her boyfriend, where she recently launched an baseball-related product line called Ballpark Canes.

A lawyer for Cosby did not return FOX411’s request for comment. Gloria Allred, who is representing several women that have accused the 77-year-old of sexual assault, said Taylor's experience is irrelevant to her clients' cases.

"We have never claimed that Cosby gave drugs to every woman with whom he had a consensual  sexual  relationship. In addition, since I do not know who this person is, I am not in a position to judge her credibility," she said. "What is important, however, is that scores of women have accused him of drugging them without their knowledge and consent  in order to sexually assault or rape them. In the court of public opinion, the alleged victims have won and the defenders of Cosby are viewed as fighting a losing battle."