"She answered those questions honestly, truthfully, to the best of her ability," her lawyer David Oscar Markus told reporters outside the federal courthouse in Tallahassee, Florida, where Maxwell met on Friday with Deputy Attorney-General Todd Blanche.
"She never invoked a privilege. She never refused to answer a question, so we're very proud of her," Mr Markus said.
Maxwell is serving a 20-year sentence and is housed at a low-security federal prison in Tallahassee.
She was sentenced three years ago after being convicted of helping Epstein, a wealthy, well-connected financier, sexually abuse underage girls.
Officials have said Epstein killed himself in his New York jail cell while awaiting trial in 2019, but his case has generated endless attention and conspiracy theories because of his and Maxwell's links to famous people, such as royals, presidents and billionaires, including US President Donald Trump.
In a social media post this week, Mr Blanche said Maxwell would be interviewed because of President Trump's directive to gather and release any credible evidence about others who may have committed crimes.
Mr Trump has denied prior knowledge of Epstein's crimes and claimed he cut off their relationship long ago.
But he faces ongoing questions about the Epstein case, overshadowing his administration's achievements.
On Friday, reporters pressed the Republican president about pardoning Maxwell, but he deflected, emphasising his administration's successes.
Mr Markus said Maxwell "was asked maybe about 100 different people".
"The deputy attorney-general is seeking the truth," Mr Markus said.
"He asked every possible question, and he was doing an amazing job."
Mr Markus said he did not ask for anything for Maxwell in return, though he acknowledged that Mr Trump could pardon her.
"Listen, the president this morning said he had the power to do so. We hope he exercises that power in the right and just way," Mr Markus said.
Earlier in July, the Justice Department said it would not release more files related to the Epstein investigation, despite promises that claimed otherwise from Attorney-General Pam Bondi.
The department also said an Epstein client list does not exist.
Maxwell is appealing against her conviction, based on the government's pledge years ago that any potential Epstein co-conspirators would not be charged, Mr Markus said.
Epstein struck a deal with federal prosecutors in 2008 that shifted his case to Florida state court, where he pleaded guilty to soliciting and procuring a minor for prostitution.
Epstein in 2019 and Maxwell in 2020 were charged in federal court in New York.
