He was jailed for life with a minimum term of 30 years in 1988 - later reduced to 28 years - for raping and strangling 15-year-olds Lynda Mann and Dawn Ashworth in 1983 and 1986 respectively.
Pitchfork was released in September 2021 but recalled to prison two months later for breaching his licence when he approached a lone woman while litter-picking.
The Parole Board met recently to decide whether he could be released, with its decision published yesterday.
It said: "After considering the circumstances of his offending, the progress made while in custody and on licence, the panel was not satisfied that release would be safe for the protection of the public."
Pitchfork became the first man to be convicted in the UK using DNA evidence following the murders in Leicestershire.
The Parole Board said in June this year that the decision to recall him was flawed and his detention was no longer necessary for public safety.
That decision was blocked by the Justice Secretary Alex Chalk, who in July ordered it to be reviewed.
The Parole Board said despite Pitchfork undertaking work in custody, it could "not be wholly satisfied" that the behaviour that caused him to offend had been resolved.
It said: "At the time of his offending, these risk factors had included his negative attitude towards women, his difficulties in managing extreme emotions and his enjoyment of causing fear in women.
"He had a need to be in control, held deviant fantasies and wanted to punish women.
"Pitchfork was preoccupied with sexual thoughts, felt entitled to have sex as and when he wanted and found enjoyment in sexual violence."
It added: "The panel could not be wholly satisfied whether the behaviours were no longer present."
Pitchfork, now 63, raped and strangled Lynda who had taken a shortcut home from babysitting.
Dawn was found beaten, raped and strangled two days after leaving home to see a friend.
South Leicestershire MP Alberto Costa welcomed the decision. He said: "A man capable of committing such horrific crimes has no place in the community."
By law, he must have another parole review in two years.
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