family trying to take our baby

We lived with my mom for a while, however, she was abusive when I was younger so I needed out. I felt weird allowing her around my daughter. She was never a mother to me, she was never really around despite me living with her. Anyways, it got to the point where I needed out. We tried to get away but she just wouldn't stop. Following us, never leaving, etc. So, we lied. We told everyone we were moving out of state and we drove over an hour away and stayed in a hotel, my husband got a good job, and we found a place that we already have ready for us for when our reservations at the hotel are up. 

Somehow, they found us. They LIED, and got keys to our hotel room, where they all came in (my mother and two sisters) We asked them to leave after explaining that we just needed away for a bit. We then called the front desk where the manager came up. They took our daughter who was sleeping (she's 1) and they refused to give her back. 

They began going on and on about how we are mentally unstable to take care of her because we left and lied about where we were. 

Fast forward, cops were called, cps was called. In the end nothing was done besides them giving our daughter back. Cps said they have the right to know where we are, how we are doing, etc. 

But while we were in the hall before the cops showed up, they were yelling, cussing, my sister was saying "your lucky I'm on medication or I'd flip the fuck out" 

Accusing my husband of beating us in front of quite a few hotel guests. Before they left they said they will do everything they can to make sure we don't take my daughter away from them. 

I don't trust them, I don't want to be part of that family. Before, I just wanted limited contact but now I want nothing to do with them. My mom told the cops that I was lying about her ever hitting us and I need to be hospitalized, all that good stuff. 

So, any advice? As the legal guardians of her, they don't have any rights, right? And if they show up at our new house, we have every right to have them taken off the property? Should I put a restraining order? I'm not sure what to do. We just signed a year lease, otherwise we would actually move out of state. 

I need help!! It doesn't help that I'm going through a miscarriage either. 

Just to clarify anything, we are the legal guardians of her.