My DD has quite a few of these, which have appeared over the years since she was a toddler (she is now a teenager). I was worried about neurofibromatosis (NF1). The GP referred her to a paediatrician, who also wasn't sure. We ended up having her seen by the specialist NF clinic at Guy's hospital.
We were told that it is very, very, very unlikely she has NF. She has no lisch nodules in her eyes (confirmed by opthamologist), she has no freckling under her arms or in her groin, and no NF nodules - just these odd pigmentation marks.
We were also told that there are hundreds of genes which control skin pigmentation and it was most likely that she just had some random (harmless) mutations in some of these.
I hope that helps. The patches my DD has are very similar to the one in the picture you posted - quite irregular shaped. The ones in sun exposed places are more obvious in the summer. NF pigmentation I think in general tends to be more regular shaped. NF patches also tend to be more numerous, so if your DD has only that one patch, it is unlikely to be anything at all.
If you look at the some of the NF forums, you will see numerous stories of children with these patches, whose parents have worried that they have NF, but they don't - they just have these pigmentation patches.