Bill Cosby is set to take the stage in Denver, despite a protest planned over sexual assault claims directed against him.

The embattled 77-year-old comedian had a packed show in Pueblo, Colorado, without disruption on Friday and is slated to perform overnight in Denver, where protesters are expected outside the downtown venue.

About 25 demonstrators gathered outside the Pueblo show, chanting "No means no" and "Colorado believes the women".

The comedian is facing sexual assault allegations from more than 15 women, with some claims dating back decades, all of which he has denied through his lawyer.