I appreciate that you don't want to give any more details, but it is confusing and if your situation were clearer then people could give more tailored advice rather than simply general stuff and sympathy.
It's clear that neither of you have custody, but without knowing a little bit more about that it's hard to give meaningful comment - for example, do you still have parental responsibility? Do they?
The reasons this is relevant is: my first thought on reading your posts is complete indignation on your behalf... this is your daughter, and your parents have booked to take her to Lapland and didn't even speak to you about it first? In no way is this either reasonable or good for you, them or your daughter - it is utterly inappropriate that grandparents should behave as if they do not have to consult with their gandchild's parent before taking them ANYWHERE, but certainly out of the country!
The fact that they think it's ok to do this indicates a totally inappropriate relationship - they are undermining you, sidelining you, treating the situation as if they are the parents. This is bad for you, bad for your relationship with them, and ultimately bad for your daughter too.
But... if it turns out that your daughter is in care, and either your parents or other carers have responsibility for your daughter and you don't, then that changes it somewhat. Not entirely - I would say that even if you don't have legal responsibility for your daughter, if your parents were good parents to you and good grandparents to her, they'd still be asking YOU in advance - out of respect for you as her mother.
You also mention that they can go to London, you can't, they can do soft play, you can't - again, for example, that could be because you don't have permission to do these things for specific reasons - or it could mean that you are disabled/living in poverty and don't have the opportunity to do them. If the first, you can understand your parents not wanting her to miss out - if the latter - they are taking advantage in a quite unpleasant way.
In short, you would need to give more details to get the best advice, I think. But my gut feeling? Your parents are undermining you and whatever your situation with your daughter is, they are taking advantage of it to elbow into a position of control. That is not good, and if you have any power to curtail it, I would. For your daughter's sake.