Yes!
We went last year with a 2.5, 5.5, 9, and 13 yo. They all loved it. They also loved it 2 years earlier.
As for the 5 yo, he can be very moody and he was in a mood that night. He did everything possible to control his laughter and he couldnt. Some of the best video I got from that night was him trying his best not to smile, yet it was impossible. The great thing about HDDR is that it really does appeal to all ages. If your DD is outgoing and friendly Im sure she will love it.