Nchange, your honesty and courage are fantastic. Thank you for sharing your feelings; I think you will make many parents breathe a sigh of relief, for saying something that I bet many people feel (at least at times) but don't dare say. I am myself struggling with the feeling that I don't love my son any more: I used to love him very much, but he has been so horrible for so long that I can't feel that love any more.
Abuse often leaves people emotionally damaged. It is usual for people who have been abused to find it difficult to love anyone, let alone a child who reminds them constantly of the abuse. Your capacity to love is still in you somewhere, but damaged. Meanwhile, you sound like you have done a fantastic job caring for your daughter in a 'loving way', and not dumping any of your own issues on her :)
I agree with HereIGo that you have absolutely nothing to fear from social services. Their job is to make sure children are safe and cared for, and it sounds from what you have said that she is! It is in fact unlikely that they would ever be involved, since the GP's job is to contact them if s/he feels a child is at risk of abuse or neglect - for example if you talked about harming her - but it doesn't sound like there is any risk to your child at all. :)
I also agree that counselling is a very good idea. But I wouldn't go for family therapy yet. It sounds to me like you need to work through your own feelings honestly and openly - and because of your experience of abuse, you will need and deserve to have the space to talk about things you may never want your daughter to hear. A counsellor will help you do that. When things are clearer in your own head, you could go on to have family therapy with your daughter(s) if you wanted.
Also, although your relationship with your daughter will obviously be an important part of what you want to talk about with the counsellor, you don't even need to mention it to the GP if you don't want to. You can ask for counselling for the abuse you suffered in the past, or just say you have a lot of complicated emotions and things you need to talk to someone about. Again, a counsellor won't contact social services or tell anyone anything about what you've said unless s/he thinks a child is at risk of abuse or neglect.
Depending on where you live, there may be a women's centre where you could get counselling or other types of support (eg. drop in sessions). And last but not least, there is some phone/online support that might feel more 'anonymous', for example:
Women's Aid phoneline support
Women's Aid online survivors' forum/chat
Relate phone counselling
Good luck :)