Lawyers for the Motown singer Smokey Robinson, whom four former housekeepers have accused of sexually assaulting them dozens of times, filed a cross-complaint on Wednesday that accuses the women and their lawyers of defamation.

Mr. Robinson’s lawyers also filed a motion to dismiss the women’s lawsuit, arguing that they should not have been granted anonymity.

In the legal filings, Mr. Robinson’s lawyers said the housekeepers had “fabricated” the abuse allegations “in support of their extortionate scheme.” The countersuit describes a caring relationship that Mr. Robinson and his wife, Frances Robinson, had with the women, noting that they vacationed together, celebrated holidays and doted upon them with concert tickets and, in one case, a car.

The court papers, which were filed in Los Angeles County Superior Court and ask for $500 million in damages, offered as evidence text messages in which the women wished Mr. Robinson a happy birthday, invited him to celebrations and gave other expressions of support. The filings said Ms. Robinson had considered at least one of the women a friend, including her in a will.

“The Robinsons did not abuse, harm or take advantage of plaintiffs; they treated plaintiffs with the utmost kindness and generosity,” the countersuit said. “Unfortunately, the depths of plaintiffs’ avarice and greed knows no bounds.”

Lawyers for the women declined to comment on Wednesday. John Harris, one of their lawyers, has said that three of the women feared reporting Mr. Robinson to the authorities because of their immigration status.