Hobart detectives charged the 24-year-old man on Friday night.
It is alleged the man took video footage of the act, police say.
He is expected to appear in the Hobart Magistrates Court on Saturday morning.
Detective Sergeant Kim Norton said the man had been known to the mother of the two-year-old girl.
He said police would allege footage of the assault was taken with a mobile phone.
The alleged assault is believed to have taken place within the last few weeks, said Det Sgt Norton, but police were unable to determine exactly where it occurred.
He said the Hobart man was arrested at St Helens, on Tasmania's northeast coast, and charged with one count of rape.
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