A man wearing a black leather mask used a sex toy to belt a woman about the head before tying her pet dog to a tree until it choked to death, a north Queensland court has been told.

Mackay Magistrates Court heard Shaun Michael Burke, 38, from Mount Pleasant near Mackay, and a 21-year-old woman broke into a home at Andergrove at 3:00am AEST on Monday.

Today the court was told Burke wore a black leather mask and was armed with a large rubber dildo wrapped in duct tape, which he used to assault the 49-year-old female occupant of the house.

Burke then allegedly assaulted the woman about the face and head with the dildo, leaving her with bruising and small bumps to the face.

The mother, together with her 19-year-old son who witnessed the event, then escaped the home.

Burke and his female co-accused then allegedly took the family dog, a lahasa apso, to a nearby park, where they taped the dog to a tree, causing it to asphyxiate and die.

Police have charged the pair with robbery with violence, wilful killing of an animal and entering a dwelling with intent.

Police prosecutor Sergeant Sabine Scott said the strength of evidence was strong, with witnesses and possible forensic evidence.

Sergeant Scott said police were investigating further charges against the man.

Burke was remanded in custody to reappear in Mackay Magistrates Court tomorrow, while his co-accused was released on bail to appear in the same court on January 29.

The woman, who was not identified in court, is from Bucasia near Mackay.

Two of the charges carry a maximum penalty of life imprisonment, Sergeant Scott told the court.

- AAP