My 3 year old daughter's earlobe has a small tear from her earrings. Do I need to bring her in or will it heal on its own?

Once a tear develops in the earlobe, it can heal itself if it’s small and hasn’t torn through the lobe. However, larger tears may require surgery. It’s probably best to wait to see if the tear heals on it’s own - give it a few months before you consider surgery.

Re-piercing can be done 3 to 6
weeks after injury but 3-6  months is better. Swelling is usually significant in the first several weeks
and some can persist for a few months but this is not as common.

Piercing holes frequently close
up on their own

Without a photo its hard to say because I do not know how long or thick the tear is, find a cosmetic surgeon to get an opinion in person.