No... The restuarant may choose not to serve you if you are serving your DD. It's also very dependent on child's age. Younger kids don't really cause concern. It's when the kids are older, but not 21. More like the 17-20 year range. /further explanation after the next quotes.
It's really a judgement call in these situations. As a server, you can observe what is going on and tell the dynamics. A child over 16 will generally have ID if needed to prove relationship. The server can always defer to the manager to make the final decision. If the wrong judgement is made, it is a hefty price to pay--I've seen it.
And, hey, I didn't make the law or necessarily support it. I just know it as an ex-server, ex-restaurant manager, ex-restaurant consultant, & still occasional event planner. You guys asked, so I answered.