Highlighting recent cases, the cross-bench peer said that in some instances, police and social workers had seen victims as "bad girls" and "overlooked these were criminal offences".
She added: "The law is there to protect children and you don't start treating children under 16 as bad girls, you start by saying 'how can they be protected from this kind of bad behaviour?'"
Speaking on the same programme, Peter Davies, the Association of Chief Police Officers (Acpo) lead for child protection and chief executive of the Child Exploitation and Online Protection Centre (CEOP), insisted reforms and changes were rapidly improving the system.
He said: "I am optimistic we have already learned significant lessons and we have moved on and we are going to move significantly this year - not just based on the Savile case, of course, but what we are currently learning about group and gang-related child sexual exploitation.
"It is implicit in the fact we are learning and improving there is something to be improved upon."