How can I leave the state with my daughter without the father’s permission legally?

If no case has ever been filed between the two of you, then there is no restriction on you moving anywhere you want. You have no indicated what states you lived in. Is Dad on the birth certificate? If he isn't , until he has legally been declared the father he has no rights. If he is, he has an equal right to custody of the child and he too could take the child, so be careful.

It almost always helps to retain a lawyer experienced in family law. That having been said, I suggest you go to the library and check a CURRENT Wisconsin statute book. See sec. 767.481, particularly subsection (6). You will probably have to give the father at least 14 days notice, and in some cases 60 days notice. Use certified mail, return receipt requested. Your notice should tell him that he can object by filing the appropriate paper with the Clerk of the Circuit Court and give the appropriate address along with a copy of his objection to you. Good Luck.