Hi and Welcome to the forum, you might want to have a look at the following FAQ which explain where everything is
Welcome to Benefits and Work Yes, you can claim Carers' Allowance as long as you provide at least 35 hours of care per week (this does not all need to be 'hands on') and earn less than £110 per week excluding tax and certain other allowances.
Your daughter would lose any 'premiums' that she gets but it would not affect her basic ESA or PIP
Carer's Allowance Please reply to this message if you have further questions about this. You will find it easily in the future if you bookmark/favourite it on your web browser now