A six-year-old girl who was removed from her father by authorities after police thought he was homeless says she is "so happy" to be back in his care.

The Melbourne man won his fight to get his daughter back, after she was taken from his car by authorities at a Sydney beach 11 days ago.

A judge in the NSW Children's Court dismissed the case, rejecting an application initiating care proceedings made by Family and Community Services (FACS).

"I'm so happy, I just love this day, now this is my party, and I love it here, [but] I can't wait to go to Melbourne and see my friends again," she said.

"I had so much fun on my holiday but I best like when my dad is on the holiday too, that's why I really like my dad because he got me back."

Her father said they were "delighted, ecstatic, over the moon and so thankful" to be back together.

"She seems alright, as you can see I've brought up a very strong, beautiful girl and we do lots of holidays and hopefully within a few months, maybe a year, we'll be able to put this whole thing behind us."

FACS did not answer the ABC's questions about why they proceeded with the case, saying there were legal restrictions.

Police assumed father was homeless

The father and his daughter, who cannot be identified, were sleeping in his car at Bronte Beach in Sydney.

The man said police concluded they were homeless.

However, the father said they had parked at the site for three nights while driving back to Melbourne after holidaying in Queensland and NSW.

The father acknowledged he had been homeless in the past, but maintained he had turned his life around since moving to Melbourne.

He said police arrived about midnight, shone a torch in the car window and told him to stand away from the vehicle.

"They told me that it looks like we're living in the car and the car is very messy and has a slight odour and that they're going to take my daughter to the police station and call DoCS [Department of Community Services]," he said.

The father has had dealings with community services and police in the past.

There are six incidents on his file where police or community services had been in contact because the child had been left unattended or concerns had been raised the child was residing in the car with her father.

Most of the incidents occurred in 2014.

In one case, the father was inside a gym and the police were called because a member of the public noticed the child was playing alone in the vehicle.

The father said he could see the child at all times through a window in the gym.

The father, who has sole custody because the mother lives in Asia, admitted he had lived out of his car with his daughter in the past, but they now lived near her school.

The father had raised concerns to the ABC that officers from FACS had not made contact with his flatmates in Melbourne or the child's school principal to verify that he was not homeless.

He said authorities had overstepped the mark in removing the child from his care.

"While I understand that a society, in order to run, we have to control things and help people out and take people away from dangerous situations," he said.

"This was completely unnecessary, I think that the authorities act with impunity, and they act without reason, and each case needs to be looked at as an individual case - we're here to bring families together."