Kevin Clash has taken a leave of absence from “Sesame Street.”

NEW YORK — The puppeteer who performs as Elmo on “Sesame Street” is taking a leave of absence from the iconic children’s show in the wake of allegations that he had a relationship with a 16-year-old boy.

Puppeteer Kevin Clash has denied the charges, which, according to Sesame Workshop, were first made in June by the accuser, who by then was 23.

“We took the allegation very seriously and took immediate action,” Sesame Workshop said in a statement. “We met with the accuser twice and had repeated communications with him. We met with Kevin, who denied the accusation.”

The organization described the relationship as “unrelated to the workplace.” Its investigation found the allegation of underage conduct to be unsubstantiated. But it said Clash exercised “poor judgment” and was disciplined for violating company policy regarding Internet usage. It offered no details.

“I had a relationship with the accuser,” Clash said in a statement of his own. “It was between two consenting adults and I am deeply saddened that he is trying to characterize it as something other than what it was.”

Sex with a person under 17 is a felony in New York if the perpetrator is at least 21. There is no record of any criminal charge against Clash in the state.

Clash, the 52-year-old divorced father of a grown daughter, added, “I am a gay man. I have never been ashamed of this or tried to hide it, but felt it was a personal and private matter.