Concerns were held for the daughter’s welfare and police launched a search for Austin.
He was arrested at a house in Port Augusta late Sunday afternoon after a public appeal from police for information.
Austin’s daughter was found safe and well and has been returned to the care of her mother, police said.
“Police have used extensive resources to locate the child, we’ve attended a few addresses,” Inspector Kev Lawton said.
He said the incident was “isolated” and “not a common occurrence”.
Austin, 32, was charged with aggravated assault causing harm and breaching an intervention order.
He was refused police bail and is expected to appear in the Port Augusta Magistrates Court on Monday.
“Police warn they will not tolerate domestic violence and will take every action available to protect victims,” a spokeswoman said.
Also on Sunday, police warned the public not to approach a man, who is believed to be armed with a gun, wanted over a break-in of a Wallaroo business last week.
Jayden Darling, 21, was last seen in Wallaroo on Wednesday. Police believe he is armed with a gun and say he is believed to be dangerous and should not be approached.
He is described as Caucasian, 175cm tall, slim with brown eyes and brown hair.