L.U.
Nope. I remember coming in the morning to get my son when he was about 11/2 or 2. He was still in a crib. He was sleeping in his own vomit!! OMG, I felt like the worst parent ever. He didn't even make a sound, just puked and went back to sleep! Talk about guilt.
Don't worry about your husband. Just say something today about how awful you feel and that you are so glad you went in to check on her. It will stay with him that she got her leg stuck too.
Unless we are beating our kids I don't think there is much that we should feel guilty about, it's just part of learning to be a parent!!
L.