This must be horrendously painful for you both, I am so sorry. What a failure of the system.
I am going to re-tag this question so that appropriate experts can weigh in. If she is up to it, I would advise your daughter to contact the police immediately - a criminal action is still a possibility. Your daughter also has the option of a civil suit for damages against dad. A civil suit against CPS is tough but you can explore whether you have enough to move forward with a personal injury expert.
Where there's a will there's (often) a way. Probably there is no statute of limitations bar. What did you report years ago to CPS? I lack information to find a basis for liability of CPS. "Dad" is clearly liable if you prove that he performed these sexual abuses. Does "Dad" have the ability to pay much in the way of damages? I'd see about getting him prosecuted criminally immediately. And, I'd make sure that your daughter gets the love, services, and support she needs to move into the future as free as possible of the past.
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