Betty, that must have been a very upsetting ordeal for you and your daughter. I applaud your dog for doing his duty to protect your family.
Don't feel as though you are a prisoner in your own home by doing some things to protect yourself, but rather you have to adjust to a possible threat that has been displayed by the actions of some idiot. That sicko had no business on your property period, take action by whatever means you can through your police to get the message to him that you mean business.
In the meantime- Some advice to you is to stay attentive to your surroundings and protect yourself by simply being proactive with some simple things like:
1. Get some Motion detecting lights/fixtures installed on the exterior of your home, not floodlights too gaudy, especially in those dark areas surrounding your home, they can easily be installed under roof peaks, soffits, etc. any light will deter a window peeper.
2. Lock your windows and doors at night, turn your TV off at night to make it harder to see who is inside when you go to bed. Use curtains/shades to prevent an open invitation.
3. Trim your bushes, minimize growth around your house to no more than waist high if possible and thin them out, don't provide cover for a criminal to hide.
4. If possible, store/hide a weapon of sorts in different locations of your home, out of reach from children. Could be a sort of tool, like a hammer, screwdriver, bat.
5. Have a phone nearby, cellphone should be near you at night.
Be proactive, don't wait around for this guy to get the nerve to up the ante', he has a criminal past and it would be enough to put me on guard even more so after what you have experienced with him.
Good luck.