Yes, assuming the other parent didn't have her for more time than you did. For example you lived together Jan-Jul and split up in Jul. The child continued to live with the other parent. You both lived with the child more than half the year. So, the parent the child lived with the most has first claim.
there are other rules that also must be met for you to claim her
• if she is not a full-time student, she's under 19 at the end of the tax year. If a full-time student, she's under 24 at the end of the tax year.
• she hasn't provided over ½ her own support
• she didn't file a joint return unless there was no tax liability but merely filing jointly to facilitate refund of taxes withheld or estimates paid
if any of these tests are not met then the rules for qualifying relative would apply
the IRS looks to nights spent. in 2020 it's possible for a child to live with each parent for 183 nights.
if that's true the next rule states that the parent with the highest adjusted gross income gets to claim her
you can claim her as a qualifying relative if all these tests are met
• her gross income for 2020 is less than $4,300
• you provided over ½ her support