Having a hard time sleeping in crib

I have a 16 month old daughter that has never slept in her crib. She loved her bassinet and when she outgrew it we started trying to put her in her crib in her room. She hated it and cried until she would almost make herself sick and I would go in and put her in he bed with me and my husband. She slept with us until she was 15 month old and we had no problem with it until one morning about four weeks ago. My husband woke up one morning and got out of the bed. We have these huge pillows that we usually put on the side of her when we get out of bed so that she can not roll off of the bed. my husband forgot to do this that morning and i was still asleep in the bed with our daughter. A few minutes later I awoke to a loud thud and to my horror realized that she had fell out of the bed. She screamed for a little bit and I was panicked. I looked her over inch by inch and thank goodness she was okay. She had a bruise on her leg and on her arm and we felt so bad. From that night on she has slept in a toddler bed. We bought one that was low to the ground and bought her Elmo bedding because she loves Elmo. She loved the bed and especially the bedding and we have had a fairly easy time getting her to sleep in it. We get her to sleep by rocking her and transfer her to her bed. At first when she woke up in the middle of the night she wanted us and would not lay back down. We just put a quilt down by her bed and layed down beside her until she went back to sleep. Now she is sleeping through the night in her bed.It is great having them in the bed with you, but you have to think of their safety also.

Yes eventually he will, but child psychologists say it's not good for the child to be used to sleeping with parents. I've read that on a study conducted, children who sleep on their own grow as independent individuals while those who do not become dependent when they grow up. I'm not sure if it's true. Of course child formation isn't based only on a child's sleeping manner.