The woman was with her toddler near to a boating lake on the seafront in Redcar on Friday when they were allegedly bundled into the rear of a dark-coloured saloon vehicle by two men.
Cleveland Police said the suspects got out of the vehicle and forced the pair into the rear of the car between 11.30am and 12.30pm.
They drove along Turner Street to Yearby on Longbeck Lane off the A174, where the woman was allegedly raped.
Later that day, between 5.30pm and 6.30pm, the woman and child were forced out of the vehicle on Kirkleatham Lane, between the turn off for Kirkleatham Museum and the bus stop towards Redcar.
They fled across the road and towards a wooded area.
The first suspect, who was driver the car, is described as a white man, aged in his late twenties or early thirties, around 5ft 7' to 5ft 10' tall.
He is of large build, with short, brown hair and has the word 'love' tattooed across his knuckles.
The second suspect, the passenger in the car, is described as a white man, aged in his early twenties.
He is around 5ft 5ins to 5ft 6ins tall, of medium build, clean shaven and with brown hair. He had had a local accent.
Temporary Detective Chief Inspector Matt Murphy-King, of Cleveland Police, said: “This has been a very traumatic ordeal for the victim and her child. Thankfully, incidents of this nature are rare and this is an isolated incident.”
He said a team of detectives were working on the investigation and had stepped up patrols in the area.
DCI Murphy-King urged anyone with information to come forward and asked those spending time near the seafront to be extra vigilant.
Any witnesses or anyone with information is asked to call Cleveland Police on 101 or Crimestoppers anonymously on 0800 555 111 orwww.crimestoppers-uk.org.