Really she should not be driving without being listed on your insurance. But if you gave her permission to drive your car than she should be covered by your policy. As long as it is not an everyday occurance. Check with you insurance company to get the true answer to you question.
Assuming that the police were not called and the other driver was not interested in recouping money due to little damage, nothing will happen. If the other driver wants their car fixed, you or your daughter will be responsible for the damages out of pocket.
It all depends on how old your daughter is and what kind of coverage you have. There are insurance policies out there that will cover any licensed driver who takes the wheel of your vehicle, and there are policies which only cover listed drivers and/or drivers over 25 years old.