@Arnie ***********
I believe so; maybe the experts can confirm. As Robert has said, young children are not fined or banned for overstaying so you could just leave it. If you intend to live permanently here, and your daughter will go to school here, you should get her the visa next time you are in the US (if you can't get it here) and then the Extension. If you're only here for a few years, I wouldn't bother.