Kerri Imelda Doherty was supposed to see four offenders at least once a month, a Care Council for Wales (CCW) hearing in Cardiff was told.
The men needed regular visits because they could suffer a relapse which could put the public at risk.
Ms Doherty denied any wrongdoing but three allegations were found proven.
A fourth charge of acting "dishonestly" was found not proven.
The hearing was told Ms Doherty worked for Vale of Glamorgan council as a senior social worker and had years of experience.
Part of her job was to make sure people who had committed "significant crimes" but were living in the community, complied with Crown Court orders issued under the Mental Health Act.
Ms Doherty said visits had happened every six weeks but council mental health services manager Andrew Cole, giving evidence on the first of a two-day hearing, said the visits were less frequent.
"[This led] to a potential increased risk of somebody's mental health deteriorating and an escalation in their behaviour - which is more likely to go undetected," he said.
Mr Cole also said the minimum four-week frequency of visits was set by doctors and would have been "clearly marked" on official documents.
In her evidence, Ms Doherty told the panel she often had an excessive work-load, inadequate management support and often felt "left out on a limb".
The hearing was also told that bereavement had caused her to "burn out" and that her life had become "chaotic" as a result.
Ms Doherty, who had been subject to a suspension order since the allegations came to light in 2014, told the hearing she was not seeking to return to social care.
A report by the care watchdog said: "The committee finds that only a Removal Order will be adequate in this case given the seriousness of the impairment."

Donald Skene grappled with worshippers and headbutted prayers posted on the walls of the Taj Madina Mosque in Victoria Road last December.
Skene, 38, was ordered to complete 156 days of the unexpired portion of his jail term for breaching his licence.
He was also sentenced to a year's supervision following his release.
Dundee Sheriff Court was told Skene shouted: "I'm white but I'm one of you, brothers", to the Muslim congregation after being arrested.
In CCTV footage shown to the court, Skene was seen entering the mosque's wash room and wandering around crying, as members of the congregation prepared to enter the prayer room.
Depute fiscal Charmaine Gilmartin the court: "His behaviour is bizarre - attempts are made to try and calm him down."
Skene is then seen running in circles around the prayer room as worshippers speak to him.
Mrs Gilmartin said: "There are various religious texts in glass frames around the room.
"The accused punches some of them and latterly headbutts them.
"He had entered using Islamic greetings, and when he was arrested he refers to members of the congregation as brothers and shouts 'I'm white but I'm one of you'."
Ross Donnelly, defending, said: "He is very apologetic."
Skene admitted charges of breach of the peace and resisting arrest.
Allegations that the offence was religiously aggravated were deleted by the Crown.
The court was told Skene had already spent 10 weeks on remand for the offence.
A social worker who failed to make regular visits to convicted criminals with mental health problems has been struck off.
[NEXT_CONCEPT]
A man who rampaged through a Dundee mosque while on licence for seriously assaulting his sister has been returned to prison.