In her new autobiography, Pola claims that her father sexually abused her multiple times over a period of 14 years starting from the age of 5.
Klaus is best known for his work with director Werner Herzog on films such as Fitzcarraldo and Aguirre: The Wrath of God, and died in 1991.
Pola, now 60, discussed her father in an interview with German magazine Stern while speaking about her book Kindermund - roughly translated as Out of the Mouths of Babes.
She explained that her dad took her with him on work across Europe after she moved out of the house of her mother - Klaus's ex-wife, singer Gislinde Kuhlbeck.
She said that he was violently abusive towards her, throwing her against the wall and raping her, and then compensating by giving her expensive gifts.
He apparently saw her as "his little sex object, bedded on a silk cushion", adding: "I didn't want to, but he didn't care. He just took whatever he wanted."
A retired mother-of-three, Pola is also known for her acting work. She has appeared in several German TV movies, as well as on stage.
Klaus Kinski was already known for his violent outbursts on set, as seen in Herzog's documentary My Favourite Enemy.
Pola said that she is only speaking out now because she is sick of the idolisation of her father in the German media.
She said: "I can't hear it any more - 'Your father! Great! A genius! I always liked him.' The idolisation has only gotten worse since his death."