the issue here seems to be that your daughter has not learned how to self soothe. she NEEDS you to get back to sleep. so you need to break this pattern. This happened with my daughter as well. What worked for us was using the Ferber method. When she wakes up, go in and make sure she is okay (not sick) and then what you should do is tell her it is time to sleep, and leave. do not pick her up!! if you want to rub her back for a few seconds that is okay, but what you need to make sure of is that your presence is not rewarding. Then leave the room.
if she cries, wait 3 minutes to go back in. repeat the process, again don't pick her up. leave the room.
if she cries wait 5 min. repeat process
if she cries again, wait 7 minutes to go into her room, repeat process.
the rest of the night wait 7 minutes to go back in.
the idea with increasing the time is that she will realize it will be longer for Mommy to return, and typically, she will fall asleep without your help as the time increases.
the next night, start with 5 minutes, then 7, then 10 and stay at 10 min the rest of the night.
each night start with the next longest time increment.
this worked in 2 nights with my daughter who then slept through the night ever since unless she was teething/sick.
best of luck! oh the book this is from is called "Solve your child's sleep problems" by Dr. Ferber