The sicko who raped a woman at knifepoint while her seven-year-old daughter slept next to her in bed was captured on video surveillance released Tuesday, police said.

The suspect climbed a fire escape to the third floor of the apartment near Mulberry and Canal streets around 3:30 a.m., Monday, broke in through a window, climbed into the 42-year-old victim’s bed and raped her, cops said.

The child did not wake up during the horrific attack, according to police.

The man was wearing a black knit cap, a black leather jacket and black pants.

One police source said the perv likely stalked the woman ahead of time.

“He knew which floor and which apartment to go to,” the sources said.