Mr Brabham pleaded not guilty to touching the girl in a sexual way over a four-year period when she was aged between six and 10.
Judge Brad Farr said Mr Brabham had shown no remorse for his crime.
He sentenced Brabham to two years and three months prison, suspended after six months.
'You have brought great shame upon yourself and your family,' Justice Farr said.
'Your family name is very well known given your father's position in life. You were in a position of trust and you breached that trust in a most offensive way.'
In March the court heard the second-born son of Sir Jack sexually assaulted the girl while she was sat on his lap, wearing shorts, as he drove a car to drop off some wheelie bins at a home.
'While doing that he started to play with the strings on her shorts,' Crown prosecutor Joshua Hanna told the jury.
During the court proceedings, the jury was shown a video of the girl, now 19, telling a police officer that Brabham touched her in the car when she was just six-years-old.
The girl also remembered 'crying' when he touched her inappropriately as she was sat naked on a toy chest after she became sick and vomited on her clothes.
'He was sort of like comforting me as he was touching me,' she said, according to the Courier Mail.
'He made it seem to me I was crying because I was sick, but I was crying because he was touching me.'
She said she tried to get away from the IndyCar driver as quickly as possible.
The 54-year-old has pleaded not guilty to one count of rape and six of indecent treatment of a girl under the age of 12.
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