The way you feel about this issue will affect the way you tell your child, and the way she will feel about it too. If you feel guilty about getting your tubes tied, or regret your decision, she'll pick up on that. Let me give you a boost here--you made the decision you thought was right at the time, so it does little or no good to second-guess yourself now. You don't say how old your daughter is, but you can give an age-appropriate answer, even if it's just saying (in a positive tone!--don't act guiltily), "Mommy and Daddy aren't going to have any more children"; or as someone else already said, "If God gives us another child..." If you regret your decision, you can look into a reversal or adoption.
I think it's fairly normal for a child to want a sibling. I'm the youngest of 4, and I sometimes wondered if my mom would have more children. Sometimes I wanted a little brother or sister, but most of the time I was happy to be the baby of the family. I learned much later that my mom had had her tubes tied right after I was born, and that made me a little sad (but a little glad) that I wasn't going to have a little brother or sister.
Your daughter may not need to know now that you had a miscarriage 3 years ago. When she gets older, she might be able to understand better. In a way, it doesn't change her world right now that you had a miscarriage back then. I'd just suggest you ask yourself why you want to tell her. If it will help her with something, or if you feel like you're hiding something from her and it's affecting your relationship, then you may need to tell her. If you just feel guilty about not being able to give her a little sister, then it may relieve your feelings, but not help her at all.