The rear windscreen was smashed on the grey Honda CRV between 10am and 6pm on Thursday (16 April) while it was parked at the ambulance station on Waterstead Lane, Whitby.
Police enquiries are ongoing to trace witnesses and identify those responsible for the criminal damage.
The paramedic's daughter said: "It's just awful. Especially as she's risking her life during this pandemic - it's disgusting.
"Unfortunately we can't use that car now so I'm having to take her and pick her up which isn't the best idea for anyone.
"Someone's been nasty, it was the only car to get damaged. Why should my mum who hasn't done anything now have to pay to fix her window?
"It's just heartbreaking. She's been at work all day and come back to deal with that."
She pointed out the irony that the incident happened on the same day that saw so many people take to their doorstep to applaud NHS workers.
Anyone with information should call North Yorkshire Police on 101, select option 1, and speak to the Force Control Room or call Crimestoppers anonymously on 0800 555111.
Please quote reference number 12200063321 when providing details.