The apology came on Wednesday after the publication of an executive summary of a serious case review, which acknowledged that the women were repeatedly raped, physically and sexually abused by their 57-year-old father in their home in Sheffield.
The review said that the father moved his family 67 times to keep his crime secret.
The Lincolnshire and Sheffield safeguarding Children Board admitted that numerous opportunities to intervene “were missed individually and collectively” as the family approached 28 agencies, involving over 100 professionals, for help during the period.
The man, who cannot be identified, was jailed for life in November 2008 after one of his daughters alleged incest.
The man confessed 25 rapes and four indecent assaults, with the attacks beginning in 1980 and continuing daily until 2008. He repeatedly impregnated her two daughters and nine children were born, The Guardian reported.
The assault started when the women were aged between eight and ten. If the daughters resisted, they were beaten, kicked and held by the flames of a gas fire.
The 39-page review, which covered the period of 35 years, made 128 recommendations for improving understanding, practice, procedures and training into intra-familial abuse.
Chris Cook, the independent chair of the Lincolnshire and Sheffield safeguarding children board, said: “We are genuinely sorry. We should have protected you.
“This is a tragic and complicated case. The man responsible, who intimidated and frightened his family, was convicted of multiple counts of rape and is serving a life sentence,” Cook said.