"It's so frustrating, there is so much evidence. My foster mum even found a drawing I made when I was a kid and at the bottom it said "I don't like it when my daddy has sex with me"," she told The Sun.
The woman's complaint was lodged through London-based solicitors Farley's.
"There was enough evidence available and PCS should have asked why she did not want to be with her foster dad.
"She feels Social Services messed around and missed opportunities to protect her," the complaint said.
The girl claimed she would hide under the table to escape her foster father and he would "slap and sexually abuse her."
The sexual abuse is said to have continued for three years.
MailOnline has contacted Peterborough City Council for comment. An NSPCC spokesman told MailOnline "we are unable to comment on individual cases."
Lou Williams, service director for children and safeguarding for Peterborough City Council, told The Sun she was sorry about the case and reassured that "practice standards are continually improving and foster carers now face much more stringent assessments, training and support."
Reports Daily Mail