The charity's announcement comes in the wake of the case of Kimberly Harte and Samuel Duncan, who were jailed earlier this month after being found guilty of torturing their disabled three-year-old daughter.
Much of the abuse occurred after the girl was returned to her parents by Westminster Council social services, prompting calls for an inquiry.
But Dame Elisabeth Hoodless, executive director of CSV, said: "We don't need an investigation. Inquiries have shown that existing measures to protect children are not enough. Children on child protection registers are still suffering serious abuse."