Well, it's great that you want to be part of your daughter's life. Really great.
Jealousy is a horrible feeling. It is not positive in any way.
Can you look at your daughter and her grandfather and be happy for her that she had a strong male role model in her life whilst you weren't around? That it added to her, gave her positivity and love? Forget about yourself in this instance and think about what is good for your daughter.
You are now in her life. It will take a lot of time for you and your dd to forge the bond of father and daughter.
But, if you are patient, kind, spend lots of time with her - without spoiling her with ott gifts etc - she and you will be as close as any other father and daughter.
Try to forget about the role of her grandfather - it's not a competition. She's lucky to have you both. Please don't make her begin to feel that she has to choose between you and him so that you don't feel bad.
My children too absolutely and without doubt prefer their father over me. And it does hurt my feelings sometimes but I'm hoping when they're grown up, they won't favour him quite so much. 
I hope you enjoy being a dad - what a tremendous and exciting thing!