Not long ago there was a girl called Daisy.
called Daisy作后置定语修饰 a girl, 相当于省略了who/that was的定语从句
There be + n./pron./v.ed(过去分词表示名词/代词与该动词是被动) “现在分词则为主动” “不定式为被动或动作将来发生”