Ahmet Baser, 34, of London Road, Shrewsbury, has started a seven-and-a-half year jail sentence after being found guilty of the offence at Stoke Crown Court.
The attack happened in August 2011 but Baser's victim has had to wait nearly two years to see him brought to justice because of delays in the court process.
Today she spoke out about her experience – and warned others to be vigilant.
On the night of the attack, she and her friend had been on a night out in Shrewsbury. They were picked up by Baser's taxi outside a town centre nightspot.
After dropping her friend off at a north Shropshire village, Baser went on to drive his victim into remote countryside at around 2.30am. He locked the doors of the car and assaulted her before taking her home.
Today, the victim said the crime had "turned her life upside down". She said: "I've had panic attacks when I've been in big crowds because I've panicked that he will be there.
"I would never get dropped off by myself now and I would advise girls to always get dropped off together."
Today the managing director of the taxi firm said all drivers were subject to rigorous criminal records checks by Shropshire Council.
He said: "This was an isolated case and it is good the courts have come down so hard on someone who has abused this position of trust.
"Baser was immediately suspended following the allegation.
"We won't put any driver in a vehicle without an enhanced CBR check, they simply won't get a badge if anything shows up."
Detective Inspector Sarah Wagstaff, of West Mercia Police, added: "This is an isolated incident involving a taxi driver who took advantage of his position to commit a serious sexual offence.
"The length of prison sentence imposed by the court illustrates the seriousness of the charge. The case also demonstrates, once again, that victims of sexual offences – whether current or historic – can come forward in total confidence."
Hayley Firman, head of the West Midlands Crown Prosecution Service's public protection unit, added: "All rape cases are reviewed by specialist CPS lawyers who have had training to ensure they prosecute such cases sensitively and robustly."