h helping me with housing and returning her to me can i sue
You **may** be able to seek a certain kind of relief for review of administrative determinations in New York called an Article 78 proceeding to reverse determinations of officials which have no rational basis ("arbitrary or capricious" or not based on substantial evidence) or claims in a special court, the Court of Claims, against the State if you suffered monetary damages, but both of these remedies have very short statutes of limitation and special procedures.
So the answer, practically speaking, is generally "no", especially given societies interest in protecting minor children from abuse and neglect and the wide discretion that the system gives those social workers charged with making the call in the first instance.
So you should see a lawyer perhaps to get the true skinny on your facts (which I wouldn't post in detail on this non-confidential forum), but expect the answers not to be encouraging unless what the social workers did was totally unfounded and outrageous (and just being wrong about the allegations of abuse is not enough)/*...such as the not-unusual malicious lie of an ex- that the CP is doing drugs or abusing the child or a misperception by a teacher or pediatrician...they get to act first and be wrong later if a child is in jeopardy...
*/ an example of something outrageous is the network of social workers in Pennsylvania who were referring children to corrupt judges who confined the children in institutional foster care facilities they owned, not normal "mistakes" of CPS workers.
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Divorce / Separation Lawyer
Propably not as there is qualified immunity for ACS. You should speak with an attorney in regard to all of the facts of your case.
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This advice is not meant to create an attorney-client relationship and is a general anwer to the question posed.