Relationships are like flowers, they need TLC or they wither and die.
Of course with a very small DD, its really hard to give it that TLC.
It will get easier as she grows. Mine are nearly 5 and 2.5 now, my youngest is at last sleeping OK, we are out of nappies, I can feel a new phase on the horizon with DH. Of course our relationship is changed beyond recognition from what it was pre-kids, but not for the worse.
In the meantime why don't you sit down with your DH, tell him you love him and want to devote some time to getting to know each other again after the lovely bomb going off in your relationship that was your DD. If you can't go out in the evenings, you can get a bottle of wine and cook something new and exciting together that you both fancy eating and have never had before, and watch a film on DVD.
Practice being physical again. Hold hands when you are watching TV. You will feel like an idiot at first but it soon comes back.
Remember, you both are in the same boat, you both feel lonely and like life is a treadmill of chores and responsibilities, you both feel that your needs are unmet because of the burden of caring for a small dependent child. You both want someone to show you some love and tenderness and look after YOU for a change. You have much in common!
Be kind and gentle to each other and you might well find things feel totally different soon.