If there are no court orders, no court proceedings, nothing filed or pending... you're as free as a bird. You can go where you like, when you like, and not have to say boo to a mouse.
It's just like being married. Up until you (or he) files with the courts... you can come and go and act as you please and no one can stop you. He can literally phone the police, and they'll say to have a nice trip. Until the courts are involved, you are a completely free agent.
((Ditto, so can he. 24/7 he can come into your home, take your/his child, and just leave and not come back. It's not kidnapping until something is filed with the courts AHEAD of time. AKA, if you leave, then he files, it's not kidnapping. If he files and then you leave, it's kidnapping.))
If you really want to move, I WOULDN'T tell him... because it only takes a couple hours for emergency orders to be filed. Once those are filed you're in the system and it will take months before you are allowed to leave, and even then, may not be allowed to take your daughter with you. But that's just me.