Yograj Mali sexually assaulted the 14-year-old girl at her home in Barodiya village on July 16 night when her parents were away, while his accomplice was guarding outside, police said.
However, the report was lodged yesterday when they returned home.
"The girl approached the police station yesterday with her parents and lodged a complaint against Yograj for raping her," said Station House Officer (SHO) Gyanchand Meena.
His accomplice Chelbihari Mewara (40) was also booked for helping the accused.
Deputy Superintendent of Police, Kishorilal, who is probing the case, said that medical examination on the victim has been conducted and report is awaited.