Probably. You can tell your lawyer (and I would get one. Normally I think people should work with mediators to keep things civil but this is dealing with abuse so you gotta play hardball) that your wife told you about the abuse.

Courts are usually cautious on these issues but FYI they might make you talk to psychologist to make sure this isn’t parental alienation on your part. Do not take that personally, or get angry about it. Even when the questions feel like an attack.

I’d also write out the story of your wife telling it to you just to clarify the facts but for obvious reasons don’t embellish and if you genuinely don’t remember something about the story just admit that.

Just maintain the truth, you are scared for your daughter and you want your wife to have a relationship with her but do not want your daughter to have a relationship with her grandfather.