WASHINGTON — Chelsea Clinton warned her parents that international relief efforts in Haiti were a disaster and that major changes were needed in a memo released on Monday that offered a rare window into her role in America’s most prominent political family.

“To say I was profoundly disturbed by what I saw — and didn’t see — would be an understatement,” Ms. Clinton wrote in a memo addressed to “Dad, Mom” and attached to an email she sent while her mother was secretary of state and her father was leading relief efforts for the 2010 earthquake in Haiti. “The incompetence is mind numbing.”

Reporting back on a four-day trip to Haiti, Ms. Clinton added, “If we do not quickly change the organization, management, accountability and delivery paradigm on the ground, we could quite conceivably confront tens of thousands of children’s deaths by diarrhea, dysentery, typhoid and other water-related diseases in the near future.”

The message hinted at the largely hidden role the former first daughter has played over the years as an agent and adviser to her famous parents, “an invisible soldier,” as she described herself in that memo. With her mother now back on the presidential campaign trail, Chelsea Clinton has been increasingly in the spotlight as she has exercised oversight over the family foundation and taken a more visible place in the family’s quest to return to the White House.