If anything, the books are far worse and more graphic in regards to what happens. Unfortunately Game of Thrones is a victim of its own success. It's very popular and very mainstream - so a lot of people who aren't the intended target audience watch it and then get outraged because they're the kind of people who would rather stifle creativity or censor stuff rather than admit than maybe, just maybe the show isn't for them and they aren't suited to appreciating the full picture.
Westeros is a horrible place. Bad stuff happens to good people. Bad stuff happens to bad people. No one is safe and that's what makes it thrilling - and whilst an argument can be made that some of the nudity and violence is over the top, so what? It's not glorifying violence or rape. Nor is it encouraging people to go out and glorify violence and rape.