Four women who worked as housekeepers for Smokey Robinson have accused the renowned Motown singer of sexual assault, claiming in a new lawsuit that he abused them dozens of times over many years while his wife turned a blind eye and berated them.

The suit, filed in Los Angeles on Tuesday, identifies the women only as Jane Does 1 through 4. They each accuse Mr. Robinson, 85, of raping them repeatedly while they were employed cleaning his homes in Los Angeles; Ventura County, Calif.; and Las Vegas.

All the while, the suit said, Mr. Robinson’s wife, Frances Robinson, failed to prevent her husband from assaulting the women despite knowing about his sexual misconduct.

Three of the women feared reporting Mr. Robinson to the authorities because of their immigration status, according to the lawsuit, which also accuses the Robinsons of false imprisonment, creating a hostile work environment and failure to pay minimum wage.

Mr. Robinson’s representatives did not immediately return requests for comment.

“Our four clients have a common thread,” John Harris, a lawyer for the women, said at a news conference in Los Angeles on Tuesday. “They’re Hispanic women who were employed as housekeepers by the Robinsons, earning below minimum wage.”

“As low-wage workers in vulnerable positions, they lacked the resources and options necessary to protect themselves from sexual assaults throughout their tenure as employees for the Robinsons,” Mr. Harris added.