Assistant District Attorney John O'Neill estimated that Camacho faced a likely prison term of 30 to 60 years under state sentencing guidelines.
Defense attorney Alfonso Gambone said Camacho would appeal, stating, "My client maintains his innocence to this day."
Gambone said Camacho testified in his defense. Camacho said his sexual encounter with one woman - proven by DNA - was consensual and that he never met the three other women.
It was the third time Camacho faced trial on the charges. His first trial last year ended in a hung jury and his second, which began last month, ended in a mistrial when the judge recused herself because of a possible conflict.
Camacho was arrested in December 2011 after police tracked him through victim descriptions of his car. In each case, O'Neill said, the victims were assaulted in the rapist's vehicle.
The crimes occurred in the shadow of the Market-Frankford Elevated, in a region then frequented by prostitutes trying to earn money to support their drug habits.
The same strip was the hunting ground of "Kensington Strangler" Antonio Rodriguez. Last August, Rodriguez, 24, was found guilty of killing three women in November and December 2010 and was sentenced to three consecutive life prison terms.
O'Neill said Camacho's victims, like Rodriguez's, were all once addicted and worked as prostitutes.
"These women have been through a tremendous amount," said O'Neill, who added that all four are no longer using drugs or prostituting themselves.
Contact Joseph A. Slobodzian at 215-854-2985, firstname.lastname@example.org, or @joeslobo on Twitter.