Naser Al Belooshi's statement came the day after French authorities launched an initial investigation into complaints made by a 44-year-old female former worker.
A judicial source has said the alleged sexual harassment occurred from July 2010 to October 2011, with the woman saying she was fired soon after, along with her husband.
The alleged victim also said the ambassador's son had threatened her with a gun in September 2010.
A police source told AFP on Monday the husband had also filed a complaint.
"His Excellency Naser Al Belooshi, Ambassador of the Kingdom of Bahrain to France, forcefully refutes the inaccurate and unfounded allegations of assault that former domestic workers have made against him and his son," the embassy said in a statement.
The statement added that the ambassador was available to French investigators "to shed light on these false accusations."
The ex-worker said the incidents took place at the ambassador's home in the swish Paris suburb of Neuilly.
The plaintiff initially accused her employer of raping her on more than one occasion but later told investigators she had thwarted those attempts.
The initial enquiry is to determine the veracity of the allegations. It could lead to charges, the appointment of an investigating judge, or no further action.