A north Queensland woman has been found guilty and jailed for nine years for abusing four of her daughters, including one who was raped with a pair of pliers.

The 46-year-old, who cannot be named, initially faced 13 charges but was found guilty of one count of rape, four counts of torture and four of common assault.

The jury in the Rockhampton District Court found her not guilty of a further count of torture and two counts of assault with a weapon.

Prosecutor Joshua Phillips said the woman had committed prolonged physical and psychological abuse over many years.

Mr Phillips said the abuse was a serious breach of trust that had a profound impact on the daughters from a young age.

He said the rape involved the girl being dragged into a room and being assaulted with pliers.

Mr Phillips said other assaults involved knives and a number of household items.

Victim impact statements read to the court showed the daughters suffered post-traumatic stress and anxiety, and were overwhelmed and traumatised.

Judge Paul Smith said the torture involved biting the girls' fingers, punching, and hitting with weapons including brooms, bats, mops, knives and electrical cords.

She has been declared a serious violent offender and will have to serve at least 80 per cent of her nine-year sentence before being eligible for parole.