One of the five Brooklyn teens who faced, and then were cleared of, accusations they gang-raped a drunk 18-year-old girl — who was later revealed to have been having sex with her long-lost father before engaging in consensual acts with the boys — plans to sue the city and the NYPD, The Post has learned.

“Onandi [Brown] is deserving of recompense for what happened to him,” the 17-year-old’s attorney, Spencer Leeds, said on Monday.

“It is clear that the city is legally obligated to compensate Onandi for the damages that he has suffered, and likely will continue to suffer,” the attorney said.

Leeds filed a notice of claim on behalf of his client late Monday, indicating his intention to sue the city.

Brown and friends Denzel Murray, 14, Ethan Phillip, 15, Shaquell Cooper, 15, and Travis Beckford, 17, were labeled gang rapists after accusations that they pulled a gun on the girl and her biological dad as the two drank beer at the Osborn Playground in Brownsville in January, forcing the dad to leave and then having their way with the young woman.

The investigation later found that the girl, whose name is being withheld, and her father were screwing around prior to the consensual sex with two of the teens.

Some of the initial encounter was recorded on a poorly lit cellphone video, which appeared to show the young woman smiling and beckoning to the young men.

Brooklyn District Attorney Ken Thompson announced he would be dropping the charges against the five teens in February after the accuser remained unwilling to cooperate with authorities or press charges against her father, with whom she had recently reconnected.

After the charges were officially dismissed on March 3, Leeds called out the DA for “lumping” the teens together with the girl’s father in his statement — saying Thompson was “juxtaposing the imperfect conduct of the teens with the heinous crime of incest.”

“These are adolescents,” the attorney said. “And no one can say they were perfect at that age.”