Police have charged a woman after a day-long search for the three-year-old girl in Toowoomba this week.

The girl was found safe and well in the Toowoomba suburb of Newtown on Tuesday, about 24 hours after her disappearance triggered a police search.

The 23-year-old woman, who is known to the girl, has been charged with two counts of removing a child from custody.

She will face Toowoomba Magistrates Court on August 11.