The detective senior sergeant was alleged to have spiked the women's drinks before engaging in extreme sex, though a criminal investigation found there was not enough evidence for him to be charged.
The women, who met the officer at a gym where he was an instructor, reported the incidents to the Crime and Corruption Commission and then to police in 2020, after realising they had had similar experiences in 2016 and 2018.
The first woman told police the officer had watched her in a public bathroom and attempted to have sex with her at her home, and slapped her while they were drunk. Another time, he had rough sex with her in a public shower at a camping ground. On another occasion, he used zip ties and rope to restrain her during sex and poured a red substance over her while she was restrained.
The second woman said she was plied with alcohol, slapped in the face multiple times, engaged in rough and demeaning sex, and was restrained with bondage materials during sex.
The officer did not deny the events happened, but believed the sex was consensual and that the intoxication was "mid-range", QCAT Member Richard Oliver said.
"On the females' recollection, it was forced upon them and there is even an inference that they were drugged," he said.
Following an investigation by the Queensland Police Service Ethical Standards Command, Assistant Commissioner Maurice Carless decided the officer should be dismissed for misconduct in February 2022.