Unless there is a court order to the contrary, you can take your daughter out of the country without any problems (whether permanently or just for a holiday) if her father does not have 'parental responsibility'. (See the link, below, for an explanation of that term).
If the father has parental responsibility but you have a residence order, you can take your daughter out of the country for up to one month without her father's permission. Longer periods require his consent.
If the father has parental responsibility and you don't have a residence order, you require his consent to take your daughter out of the country, even on a day trip.
http://www.ips.gov.uk/passport/apply-child-rul es-parental-responsibility-rules.asp
Chris