My husband and I just finished going through this! We have had the same problem over the last few months. Last week, I finally said enough is enough. I was crabby during the day, because as much as I hate to admit it, I need my full sleep- waking up in the middle of the night was not letting me get sleep and then having my daughter between us was keeping me up!
What we did- a few nights we just bit the bullet. My husband went up and sat with her while she cried to come down. Eventually she laid down and went to bed. I also went to her room and laid in her bed with her to help her fall back asleep. This took 3 nights- then she started sleeping through the night on her now. We made a HUGE deal out of it the first night- telling her what a big girl she is sleeping in her own bed.
What we found with our daughter is that she was taking naps during the day and sleeping late in the morning, so it was throwing her schedule off. She wasn't tired enough to sleep through the night. We started making a real effort after dinner to run around the yard, jump on the trampoline, ride her bike, something to exhaust her. Now she is asleep by 8pm and we have to drag her out of bed at 7:30am
Good luck!