A manhunt is underway in Texas for a convicted sex offender who escaped from jail on Sunday while serving a life sentence without the possibility of release.

According to the Texas Department of Criminal Justice, Robert Yancy, Jr., 39, was sentenced for chronic sexual assault of a minor and was imprisoned at the Clemens Unit in Brazoria, Texas, some 60 miles south of Houston.

PHOTO | COURTESY Robert Yancy

Yancy escaped in a white Nissan Versa around 3:38 p.m. Sunday and is no longer considered in Brazoria, according to the Brazoria County Sheriff's Office on Facebook.

According to the sheriff's office, the Nissan's license plate was submitted into a nationwide plate reader system, which alerted authorities that the vehicle was sighted at about 6:09 p.m. in Victoria County, roughly 110 miles west of Brazoria.

PHOTO | COURTESY Robert Yancy

The Victoria Police Department said officers stopped a white Nissan related to the escaped inmate at 8:25 p.m. The lone occupant of the vehicle was a female driver, who was arrested on an outstanding warrant relating to Yancy's escape, according to police.

No further information was offered about the connection between Yancy and the female driver. When she was last spotted, Yancy wore a black beanie and jumper.

Authorities encourage the public not to approach Yancy and to report any sightings or information on his whereabouts to law authorities.