Rob Lowe

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Update: E! News has obtained the lawsuit. View Gibson's allegations.

Rob Lowe's nanny diaries have finally hit the courts—and the public finally knows what allegations, exactly, the actor has spent the past week defending himself against.

Jessica Gibson filed a sexual-harassment lawsuit against Lowe and his wife, Sheryl Berkoff, Monday, one week after the actor filed a preemptive civil action against the employee, citing breach of confidentiality.

The 24-year-old Gibson, who is being represented by camera-friendly attorney Gloria Allred, filed her 18-page complaint in Santa Barbara court.

Among the more damning allegations, Gibson claims she was sexually assaulted, battered and harassed by both Lowe and Berkoff and, to top it off, wasn't properly paid for hours and overtime she worked.

Per court papers, Gibson claims the former West Wing star repeatedly exposed himself to her and inappropriately touched her, alleging that he "placed his hand inside Gibson's pants in order to touch her crotch" several times between September 2005 and January 2008. She also alleged that in December 2007, the 44-year-old "grabbed Gibson's buttocks without consent."

As for Berkoff, Gibson said the 46-year-old makeup artist walked around the house naked, made vulgar comments and frequently discussed her sex life with the allegedly unwitting nanny.

In the wake of the filing, Gibson and Allred both turned up on the Today show Tuesday to further advance their cause.

Gibson said she twice tried to leave the Lowes' employ, only to return each time asking for more hours. She kept working, and coming back, because of her fondness for the Lowe children and her fear of celebrity retribution.

"I love the children, I needed the job, and I always thought it would get better—and I was scared," she said.

She finally resigned for good on Feb. 24, informing the couple via email.

On Today, Gibson did not address why she sent the Lowes two emails the day after she finally quit, assuring the couple that she loved them and that her decision had nothing to do with them.

Per usual, Allred did most of the talking for her client, brushing away the emails by claiming Gibson was scared of the duo and simply trying to appease them.

"Look what happened," the attorney said. "Her worst nightmare came true. She protested the sexual harassment and they came down on her with everything they have. They trashed her reputation, they made false allegations about her, and that is wrong.

"Maybe they thought she was going to go away and be intimidated, but she is not going to hide. She is not going to go away."

Lowe and Berkoff are expected to be deposed in the case on May 19 and 20.

The duo fired the first salvo last week, accusing Gibson of demanding $1.5 million in exchange for not going public with "a vicious laundry list of false terribles."

The Lowes also alleged that the former nanny used their homes in Santa Barbara and London for her own sexual liaisons and, furthermore, took drugs while watching their two children, 14-year-old Matt and 13-year-old Owen.

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