I would say that she hasn't learned how to fall asleep on her own, so you will have to begin the long process of teaching her how to do that. It will take some backbone on your part, because there will be crying, but I would start a nighttime ritual with her that is repeated every night. Read a book, say a prayer, sing a song, or whatever you want to do, but it should end with you putting her in the bed alone and awake. It might not go well the first couple of times, but if you can get through it, she'll be better off, and so will you. If she cries, give it a few minutes and then go in a reassure her that it's okay, you are here for her, and she's safe. Put her down again and leave. Once she can do it at night, she'll get it during the day, too. I am a child development instructor at the local university, and I teach my students nighttime rituals from the very beginning. I hope this helps, and I hope you get some peace soon.
J. W.