I've been divorced for 13 years, my 16 year old daughter lives in Missouri with my ex and has decided she wants to come live with me in Connecticut. What rights do we have if any to change custody of my daughter?

Your daughter is won't be old enough to decide where she lives until she is eighteen.

Your ideal situation would be to work with her father and discuss your daughter's feelings and decide on a new custody arrangement and go to court to have the custody modified.