Andrew Dale Iveson, 48 and of Anchorage Hill, Richmond, was jailed for 20 years after being found guilty of nine child sex offences, eleven counts of rape and five other sexual offences.
The victim was aged under 10 at the time the abuse began in 2005 and Iveson continued to sexually assault her until 2013 when she was into her teens.
Iveson, who worked as a relationship therapist, also forced his pet dog onto the victim.
Following sentencing Det Insp Shaun Page of North Yorkshire Police, condemned Iveson for the ordeal he had subjected his victim to.
He said: “Andrew Iveson is guilty of some of the most horrific abuse I have ever dealt with during my 19 years as a police officer.
“The ordeal he put his victim through when she should have been enjoying her childhood was downright evil and I can only describe him as a monster.
“I would like to acknowledge the bravery of the victim for coming forward and telling the police what happened to her. Her courage has ensured that a vile and dangerous paedophile has been jailed for a long period of time.
“I hope that she can now begin to rebuild her life with the knowledge that justice has been done.”
Iveson was also ordered to sign the sex offenders register for life.