Police said Alysha Lyle Valdes was found unharmed less than four hours after she was taken from her home in Delta, B.C., south of Vancouver.
Her father, David Lyle, 31, was arrested.
"Pending the outcome of the investigation he will face several charges," police said in a news release.
Lyle and the child were located in Merritt, B.C., about 280 kilometres from the girl's home, police said.
She was abducted from there at about 10:20 a.m. Monday morning.
"The child is safe and well and in police custody until she can be reunited with her mother," police said.
"The abduction occurred after a domestic custody incident between the parents."
Lyle was believed to be driving a vehicle with an Alberta licence plate.