First, it's important to understand that you need to give them notice, in writing, before you evict them. The police/911 are correct, you can simply kick them out.
So you have a few options: one, you can give them notice, in writing, 30 days to leave. After the 30 days have passed if they have not left, you can take them to court to evict them.
Also, if they owe money for rent, you can give them notice, and five days to pay that money. If they do not pay the money they owe with in the five days, then you can take them to court and ask the court to evict.
So it is possible to remove them.
As for the lies your daughter is spreading about you? What you describe sounds a lot like defamation. Specifically, if she is lying about you and those lies are harming your reputation, you could sue her for defamation and recover for the harm your suffering because of her lies.
Finally, you mentioned a restraining order
. The court would not issue a restraining order based on false accusations. However, they will issue a restraining order if you have fear for your or your spouse's safety. If she has made threats or any indication that she could be a threat to your safety? That would be a basis to request a restraining order from the court. a restraining order is fairly simple to accomplish; you can do it yourself at the county court. Simply head to the county court and chat with the clerk of the court, they can give you the forms to begin the process to request a restraining order.
Please let me know if you have more questions. I am happy to help if I can. Otherwise, please rate the answer so I may get credit for my work.