In audio posted by TMZ, a man who is alleged to be Collins, says that he exposed himself to a young girl and made her touch his genitals. The man is not identified in the audio except for one time when someone refers to him as "Stephen."
According to TMZ, the recordings came from Collins' estranged wife, Faye Grant. Collins, 67, and Grant are reportedly in the middle of divorcing, and according to the website, Grant recorded meetings she and Collins had with a therapist. TMZ says that Collins was unaware he was being taped.
As for how the recording made its way to the media, Grant said in a statement via her lawyer:
"I woke up today to learn that an extremely private recording I handed over to the authorities in 2012 per their request in connection with a criminal investigation was recently disseminated to the press. I had no involvement whatsoever with the release of the tape to the media."
The New York Police Department is in possession of the tape, and are investigating the claims. "There is a formal complaint on file and the incident is being investigated by the Manhattan Special Victims Squad," the DCPI confirmed to ET in a statement.
ET has reached out to Collins' reps and TMZ reports that the actor's representatives have declined to comment on the audio.
Collins has a long-running career in family television. His most notable role was playing 7th Heaven dad Rev. Eric Camden on the family drama from 1996–2007.
The cast recently reunited on Sept. 17, 2014, and it was Collins who tweeted a photo of his on-screen family reunion. He wrote: "1st time in 8 yrs Joy, laughs! Dave, Preg @beverleymitchel,me, @JessicaBiel,@realBarryWatson, Cath. No @mack_smack."
In the twitpic, Collins is joined by Catherine Hicks, who played his on-screen wife Annie Camden, and their on-screen kids Beverly Mitchell (Lucy), Jessica Biel (Mary), David Gallagher (Simon) and Barry Watson (Matt).
The same year as 7th Heaven premiered, Collins took on a more controversial role when he portrayed a father who enters into a sexual relationship with his teenage babysitter in Lifetime's The Babysitter's Seduction, co-starring Kerri Russell.
Collins went on to to make a few guest starring roles in shows like ABC's Scandal and Private Practice, ABC Family's The Fosters and NBC's The Office (to name a few).
He also starred in six episodes as Phillipe Delatour in season 1 of Lifetime's Devious Maids, and portrayed Dr. Gene Porter in NBC's Revolution.
His next role, according to IMDB, will be in a short called Penance where he plays the character of Priest.