"He ignored everything, including that I tried to defend myself and said, 'I don't want to,'" Pola Kinski told Stern magazine. "He didn't care. He just took what he wanted."
Pola is Kinski's daughter with his ex-wife Gislinde Kuhlbeck. The actor died in 1991 at age 65.
Pola, a retired actress, said her father sexually abused her when he had custody of her and took her with him as he worked around Europe.
She said after he raped her he would shower her with expensive gifts, turning her into "his little sex object, bedded on a silk cushion."
"When I saw him in films, I always thought that he was exactly like that at home," she said. "He really abused everyone. He never had respect for other people."
She told the magazine she wrote a soon-to-be-published book about her youth because she was tired of hearing people praise her father.
"I couldn't take it anymore: 'Your father! Great! Genius! I always liked him!'" she said. "The idolization has got worse and worse since he died."
The actor's film credits include "Aguirre, the Wrath of God," "Nosferatu the Vampyre," "Woyzeck," "Fitzcarraldo" and "Cobra Verde."