Cliff Richard, 73, voluntarily met officers and was not arrested or charged.
It comes after police searched his home in Sunningdale, Berkshire, on August 14 as part of their investigation.
Cliff richard denies the alleged offence, saying the claim of an assault at a religious event in Sheffield in 1985 is “completely false”.
South Yorkshire Police confirmed it had spoken to a 73-year-old man.
A police spokesman said: “The man was interviewed under caution but was not arrested. He entered South Yorkshire Police premises by arrangement.”
A spokesman for Cliff Richard said: “Today Sir Cliff Richard voluntarily met with and was interviewed by members of South Yorkshire Police. He was not arrested or charged.
“He co-operated fully with officers and answered the questions put to him.
“Other than restating that this allegation is completely false and that he will continue to co-operate fully with the police, it would not be appropriate for Sir Cliff to say anything further at this time.”
The allegation against Cliff Richard relates to an assault claim at an event featuring preacher Billy Graham at the Bramall Lane stadium in Sheffield in 1985.
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