BRIDGEPORT - A local Uber driver was ordered Friday to stay away from a 17-year-old Fairfield girl who claims he sexually assaulted her in his car while driving her home.

Dwaine Miller, 31, of Kingsbury Road, who previously served prison time on robbery, burglary and assault charges, is charged with third-degree sexual assault.

“Mr. Miller vehemently denied the allegations and will plead not guilty at the next court date,” his lawyer, Sean Barrett, said following Friday’s brief court hearing.

Superior Court Judge William Holden imposed a protective order against Miller and continued the case to Aug. 23. Miller is free on $5,000 bond.

Fairfield police said on July 13, the girl’s father complained that his daughter had been sexually assaulted by her Uber driver.

During an interview, police said the girl told them she had summoned an Uber to take her home from a friend’s house in Fairfield.

When the Uber driver, who she later identified as Miller, arrived, she got into the front seat, police said.

During the ride to her home, police said Miller asked the girl if she had a boyfriend and then asked if he could perform a sex act on her. When the girl refused, police said Miller grabbed her crotch area and groped her chest.

At one point, police said, Miller pulled over, unbuckled the girl’s seatbelt and pulled her on top of him and began kissing her. The girl managed to push away and ordered Miller to take her home, police said.

Police said Miller later texted the girl, stating: “I’m truly sorry. If you’re interested in a relationship, I’m really feeling you.”

Police said Miller later admitted giving the girl a ride home but denied sexually assaulting her. He said he did text the girl but deleted the texts because he is married and didn’t want his wife to see them.

Barrett said that since the arrest, Uber has suspended his client’s account.