John MacIntosh, 46, of Dingwall, must serve at least 10 years in prison after being convicted by a jury of four serious sexual offences.
At the High Court in Aberdeen, judge Lord Uist said MacIntosh was a "sexual fiend" who targeted vulnerable females.
MacIntosh had previously been jailed for seven years for having sex with 13 and 14-year-old girls.
The offences heard at the High Court in Aberdeen happened in the Inverness and Dingwall areas between 1996 and 2004.
He sexually assaulted and attempted to rape the young girl and raped three women.
In his sentencing statement, Lord Uist said: "You targeted vulnerable females in order to gratify your carnal lust.
"You have called all these women liars and shown no remorse for what you did."
The judge added: "It is clear to me that you have no respect for women and are a sexual fiend."
Lord Uist said MacIntosh should not assume that he would be automatically released after having served 10 years in prison.
He said: "You will be released only when the Parole Board for Scotland is satisfied that it is no longer necessary for the protection of the public that you continue to be held in prison."
Police Scotland has welcomed the life sentence.
Det Insp Eddie Ross said the case was brought to the attention of police by the NHS.
He said: "During the investigation there was also significant involvement from the local authority in terms of housing and social work support for not only the victims but also their children.
"However, the most important people in all this are the victims and I must pay tribute to them in both coming forward to the police and staying with the prosecution process to conviction.
"I hope that this result will bring some comfort to the victims in this case and give confidence to anyone who has suffered similar experiences to come forward in the knowledge that their case will be sensitively and thoroughly investigated."

A rule change has reduced the number of foreigners allowed in a move which could slow down the wave of big-money signings from Europe.
Chelsea striker Diego Costa has been linked with a move to China that would be worth £30m a year.
A statement said the new measures will address "irrational investments".
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Previously the rule was "4+1" - four foreigners of any nationality plus one Asian player in a matchday squad.
Teams will now also be required to name two Chinese players aged under 23 in their matchday squads, with at least one in the starting XI, with the Chinese Football Association also looking into "signature fees and other illegal activities" in recent transfers.
Chelsea midfielders Oscar and John Mikel Obi have already moved to China this month, while former Manchester United and Manchester City forward Carlos Tevez reportedly became the world's highest-paid player when he joined Shanghai Shenhua last month.
Shenhua would be one club hit by the new rules as they have six non-Chinese players in their squad, including Tevez, former Chelsea forward Demba Ba and ex-Newcastle striker Obafemi Martins.
Costa has been linked with a move to Tianjin Quanjian, who signed Belgium midfielder Axel Witsel for a salary of more than £15m a year this month.
BBC China correspondent Stephen McDonell
Chinese teams have been paying reportedly exorbitant sums to lure international stars like Carlos Tevez and Axel Witsel. Now, the new rules will especially affect players from the Asian region - like Australians and Koreans - who were able to be chosen on top of the previous international count of four.
It is hoped the changes will foster more local talent at the expense of overseas players.
A man who attempted to rape a young girl and raped three women has been jailed for life.
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Chinese Super League clubs will only be allowed to play three non-Chinese players per game in their next season - which begins in March.