Senior officers described the horror of what Nicholas Totty did after he was sentenced to life imprisonment at Sheffield Crown Court by a judge who ordered that he must serve at least 10 years in prison before he is considered for release.
South Yorkshire Police said Totty, 26, first tried to attack a 24-year-old woman who was walking her dog in Herringthorpe Valley Road, in Rotherham, at about 9.15pm on September 27.
About two hours later he targeted a 27-year-old pregnant woman in Moorgate, Rotherham - hitting her over the head with a torch before raping her at knifepoint.
Officers said he dragged the victim along the street but a member of the public intervened causing him to run off.
At about 1am the next day Totty forced his way into a house and seriously assaulted a woman and her 17-year-old daughter. He then repeatedly raped the teenager as her mother desperately tried to stop him.
The defendant severely assaulted the woman as she tried to defend her daughter before fleeing.
Totty, of Newman Road, Rotherham, admitted four counts of rape, wounding with intent, assault with intent to commit a sexual offence and attempting to cause grievous bodily harm at an earlier hearing.
Detective Superintendent Lisa Ray said: “This was the most grotesque and hideous of crimes. It is difficult to find the words to truly describe the gravity of Totty’s actions and the lifechanging impact it will have had on all the victims he attacked during that night of terror.
“The victims in the case have showed incredibly bravery and dignity throughout the course of the investigation and subsequent court proceedings. I hope the fact that Totty is now off the streets and facing life in jail will help give them some closure.
“I would like to take this opportunity to thank the members of the public who intervened on the night, preventing further offences, and who came forward with information that helped us to identify Totty.”