Yes, I have experience with this. Sadly, I've learned that whatever YOU say will be interpreted as you being a bitter, hysterical wife who wants revenge. It will be assumed that you are making it all up and have coached your daughter. I have learned that only what your daughter reports to a counselor or other mandated reporter will be taken seriously. Even then, you have almost zero chance of having the courts make anything of the report.
However, since you don't want your daughter eventually raped by her father, you have to go through the motions so you can at least look yourself in the mirror and say that you did everything you could. SO, get your daughter to a counselor or other mandated reporter and have her tell them what she's told you. Do this immediately. Like, tomorrow. Tell your lawyer first thing in the morning. In fact, send an email now, follow up with a voice mail, then call when they open for business. If you do not act like a concerned mother, you will be seen as one who is making shit up.
Your daughter is old enough to be a credible witness. She has to do this to protect herself. You cannot do it for her. She is also old enough to have a definite say in visitation.