The baby's aunt, 29-year-old Nichole Nelson, faces a felony charge of endangering a child and given a $40,000 bond.
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According to court documents, officials said ABC13 helped start the investigation.
Nelson is due back in court on Monday.
Court records allege Nelson used a booster seat for the girl instead of a car seat.
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Investigators said Nelson was driving three other children in the SUV who were also not properly restrained.
SEE ORIGINAL STORY: Grandmother says child who fell out of moving SUV in SW Houston is not injured: 'My God is good'
"I didn't even know (anything) about it. I didn't know until I (saw) it on the news. I said, 'What? Wait a minute.' My God is good. God is good because I had a heart attack," the girl's grandmother said.
According to her grandmother, the girl has gotten out of her car seat and pulled on the door handle before.
"She has (known) how to open the door. So, that's why you are always supposed to put the child lock on it," she said.
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Dashcam video shows the SUV take a right turn and the child rolling out onto the Southwest Freeway feeder road at Hillcroft - one of Houston's busiest intersections.
Video shows the red SUV making a turn when the girl tumbles out of the car. The driver can be seen running to scoop her up and put her in the car again.
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