Is this inappropriate?

I have a question. So I have a boyfriend for a year now and he lives an hour away. I also have a 7 year old daughter. My daughter goes to her dads most weekends but occasionally will go stay at my boyfriends with me over night. He lives at home with his family and i do as well (were moving in together in our own home in a few months) but usually when we stay the night at his house he will sleep on the couch and me and my daughter sleep in his room. Well he is 6'4 and the couch is really uncomfortable and lets face it its just too small for a man that big lol. So we decided last night we would put a twin mattress on his floor and my daughter would sleep there and we would sleep in his bed. We watched tv and went to sleep. So when I got home today my mother told me that it was very inappropriate to have done that. Because it is not her dad. But we did not do anything. Besides sleep. And she had her own bed. Im not sure what to think of this. Im 24 years old and would hope im making good decisions for my child and dont want to do anything that isn't right for her. Im just wondering peoples opinions?