The Department of Children and Families said Sierra has two other children who were placed into state custody on Thursday.
"We have a history with various members of the family," said Page Patterson of DCF.
The last known incident was in Oct. 2011, when police say Dontrell's mother called authorities after a custody dispute, saying Melvin wasn't letting her see her son.
Police said the case was forwarded to DCF, but no home visit was made. Dontrell was never reported missing.
DCF Secretary David Wilkins released a statement Friday, saying in part: "We have had a number of instances of involvement with this family in recent years. Working with the Hallandale Beach Police and the Broward County Sheriff’s Office, the most recent investigation earlier this week resulted in the actions that led to today’s arrests"