All perfect praise be to Allaah, The Lord of the Worlds. I testify that there is none worthy of worship except Allaah, and that Muhammad is His slave and Messenger. We ask Allaah to exalt his mention as well as that of his family and all his companions.
The husband has the right to take his wife back during her waiting period, and there is no need in this for the consent of the wife, let alone the consent of her father. You left with your husband so you actually did what you were religiously required to do. Therefore, there is no harm on you (i.e. you are not sinful) and you are not considered as having cut the relations with your parents. However, you should be kind and dutiful to them, and always visit them even if they are angry with you as their right on you is great.
Allaah Knows best.