mad

My daughter has been with her father's parents for about 3 years now. The grandmother said she could stay as long as i needed her to and i believed her. I was ready to go and pick her up when the grandmother told me that i had given up my rights and that i have to go to court to get her back. I always visited my child and the last time i went before i tried to get her the grandmother told me she had lost her job and and she was going on disability and my daughter could get it if i signed this paper...well i didn't read the whole paper and i only did it because i wasn't able to provide money like i used to. Now i went to pick her up and the police were there and i was told that she had a legal paper saying she adopted her and it broke my heart because i love my child to death and she did this for no reason. I have no money to get a lawyer and plus i live in another state and i don't know what to do can someone please help me.