You are likely able to claim your daughter if she had no income. The requirements for claiming a qualifying relative are:
Not a qualifying child- if she is not a full time student, she is no longer a qualifying child at 23
Member of Household or Relationship Test- she qualifies since she is your daughter
Gross Income test - she must have made less than $4050 income last year
Support test - you must have provided more than half of her support for the year.
You can read the details for each of these tests in IRS Pub 501 at the below link.
https://www.irs.gov/publications/p501/ar02.html#en_US_2016_publink1000220939