Esme Kinraid was suffocated after her father, Philip Murray Kinraid, forced her face into a pillow when she wouldn't settle at bedtime in June of 2015.
The Hawera man was sentenced to four years and three months in prison for her manslaughter in September last year but became eligible for parole in July this year.
The parole board said he had made exemplary progress in one-to-one counselling with a psychologist and was now considered low risk.
The psychologist said in May that no further treatment was needed.
The board said although Kinraid stands by the fact that his daughter's death was "an accident", his actions were unlawful and very serious.
It said Kinraid had a new partner, approved accomodation and strong family support.
He will be released from prison in the South Island this month on probation conditions such as participating in treatment programmes.
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