My oldest did not crawl out of his bed, but my youngest did. He never cried, just crawled under his bed on the floor and slept there. He didn't appear to be hurt when he was jumping out and he did it a few times so it couldn't have been that bad. We took the side off of his bed and lowered the mattress and he still got down and slept under his bed!
My 11 month old niece is so bad about it that they have removed all toys from her bed because she will climb on them to get out.
In both cases bedroom doors were/are shut to prevent little ones from wandering about and rolling down stairs. if your daughter is trying to put herself to bed, she may be old enough to switch to a toddler bed.