Will paypal detect my invalid debit card?

Are you sure the bank closed your debit card account because of late payment for annual fee? As far as I know,(I am from Malaysia too)the banks are dying to get new customers for all their products. It is unlikely that they will give up a customer just like that. Even if you had not paid the fee due, the worst they could do is to suspend the usage of the card temporarily until you pay up. Have you confirmed that with your bank? Is it RHB bank? Maybe I am wrong, but my Public Bank ATM card can also be used as a debit card and they charge no annual fees.

you need a new card dear. or atleast you need to type in your bank sort code and account number for it to go straight into your account.

I have an friend experienced as you and his withdrawal transaction succeed because he withdrawn the money direct to bank account but not to debit card account,it was happen 3 year ago.

You need to add bank account to withdraw your PayPal funds and credit or debit card as a funding source.It means if you have added your valid bank account then sure your amount will get transferred within the next few days.