The revelation is thought to be the reason behind a bitter family feud which Elon, one of the richest men in the world, recently spoke about candidly.
In a tearful interview with Rolling Stone, the Tesla and SpaceX boss described his father Errol as "such a terrible human being, you have no idea."
He went on: "My dad will have a carefully thought-out plan of evil.
"He will plan evil. Almost every crime you can possibly think of, he has done.
"Almost every evil thing you could possibly think of, he has done. It’s so terrible, you can’t believe it."
When asked about the comments last week, Errol responded angrily, telling the Mail on Sunday his 46-year-old son needs to "grow up".
Speaking at his mansion in Western Cape, South Africa, he speculated that Elon was referring to the fact he was once acquitted of manslaughter after shooting dead three men who broke into his home.
And Musk senior also revealed his son's unhappiness that he fathered a baby with his 30-year-old model girlfriend Jana Bezuidenhout.
Referring to the unexpected birth of son Elliot Rush Musk, Errol said: "Of course, I love him dearly, even though it wasn’t planned.
"In my own cautious way I insisted on a DNA test to ensure he was mine.
"I told my daughter Ali about him because I thought she would be supportive and understanding.
"She said I was insane, mentally ill.
"She told the others and they went berserk."
Now it has emerged that Jana is not only Errol's 'girlfriend', she is also the daughter of his former wife Heide.
A family friend said Errol has known Jana since she was four-years-old and that his former wife Heide has been trying to keep the scandal secret.
"There is not a lot of people who know this. We would actually like the facts to come out," a source told MailOnline.
Errol Musk, who is also a successful millionaire businessman, said he no longer considers Jana his stepdaughter.
He has been married and divorced four times and claimed he "barely remembers" Jana's mother Heide and would not know if he met her in the street.
Errol and Heide were married for 18 years and had two children together Alexandra 'Ali' Musk and Asha 'Rose' Musk.
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