I've never seen my 9 yr old daughter. Do I still have to pay support if I gave up rights?

You may have given up custody, but you did not give up rights. And you certainly did not give up your responsibility to financially help support your child.

No court ordered visitation?

Yes, you have to pay child support. As noted, you did not give up your rights, you merely agreed not to have visitation. visitation is only one of many rights a parent may have.

Also, it is doubtful that not agreeing to have visits ( that is not signing anything away) can not be challenged. If you want visits today, most likely you could go back to court and ask for visits

How did you go about giving up your rights to see the child (visitation)? Was it through the courts?

With that said, seeing a child (visitation) and legally supporting them financially are two totally different things. Typically the only time you will not be financially responsible is if the child is adopted by a step parent or an outside adoption.