She is a disciple of Shiva but not his daughter.
She is said to be the mind born daughter of Sage Kashyapa in Devi Bhagavatam 9.47:
38-58. Nârâyana said :-- O Nârada! Thus I narrated to you the stories
of Sasthî and Mangala Chandîkâ, according to the Vedas. Now hear the
story of Manasâ that I heard from the mouth of Dharama Deva.
Manasâ is the mind-born ...