ADHD can have hyperactive physical elements. But also hyperactive mental elements - the brain flits from one thing to another. It's not just about being unable to sit still. Or there's ADD, which doesn't have the hyperactive element.
Mostly though, it sounds like your dh doesn't have the confidence in himself to parent his dd, because you do all the parenting. So he just needs the practice without worrying what happens if he doesn't stick to the routine. Which means your dd needs to learn not to worry, or more likely pick up on your concern for her wellbeing while with her dad.
I have this too. I make sure all the kids have their packed lunches, do all their homework with them, forms and appointments, make sure they clean their teeth and wash their faces. Take them to their clubs. Dh works full time, comes home and the kids rush to him for fun time/biscuits and tv. It's infuriating as he doesn't do all the bread and butter stuff of being a parent.
I decided to take a step back, a deep breath and let him get on with it. I try and get a day out every couple of months so dh has to step up and do everything, from getting them up to preparing dinner for when I get back. It's getting better with time. It's shown me that the dh can manage without me, I'm not indispensable. It's shown dh that there's more to being a parent than feeding them biscuits for breakfast and going to the chilly for tea.
Of course, this all depends on your breaking point. You may already have tried this over a considerable period of time and he's still not stepped up. In which case, use your time to get organised and present papers as a done deal, rather than something which can be pushed against and broken for you decide the next time might be the last one.