Stewart Pirie was jailed for eight years last week after admitting the manslaughter of Jasmine Galyer in February last year.
Two social workers from North Lincolnshire Council visited the familiy's council flat in Scunthorpe in September 2002 following a referral from an anonymous neighbour.
The family was out and the social workers left a card, before returning the next day and finding nothing of apparent concern.
In 2001, Pirie had been questioned about child abuse but the Crown Prosecution Service decided against pursuing the case.
The inquiry is being conducted by Pete Andrews, chairman of North Lincolnshire Area Child Protection Committee.
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