Burns became eligible for parole last month.
But he was described as still at a "high risk" of reoffending.
The career criminal has had 65 convictions since the age of 15 and the Parole Board said his past history did not "inspire confidence" about his complying with parole conditions.
Burns has three convictions for escaping from custody, several for breaches of parole.
Amongst his list of convictions included rape and unlawful sexual connection, the board said.
"It is said that he is affable and charming and pleasant when things go well but when things do not go his own way his responses are very negative," the board said.
"His presentation to the Board was plausible and persuasive but we have reservations about his genuineness."
A psychologist whose name was suppressed told the board Burns should stay in prison for an extra five years at minimum.
The board said Burns faced a "lengthy rehabilitation pathway".
"It is clear that parole must be declined, which it is. Mr Burns will be seen again in accordance with the statutory cycle."