The former Boyzone star was spotted hugging the youngster as she flew in from London to join her father and her two other siblings, who arrived a few days earlier.
Keating is currently working on the Australian X Factor, and it seems he's desperate to spend some time with his children.
Happy reunion: Ronan hugs his daughter at Sydney airport after she arrives from London
And the pair couldn't hide the smiles from their faces as they met at the airport.
Delayed: Missy couldn't meet her dad earlier as she's been busy filming a horror movie
They went out for breakfast at harbour-view cafe in Sydney's Walsh Bay, before taking in the sights and soaking up the glorious weather.
The four of them could hardly keep their grins off their face as they laughed almost constantly during their summer stroll.
The children's mother Yvonne remained in Ireland while they stayed with their dad for a few days.
Sun is out: Ronan and his children don sunglasses for their family day out
Big laughs: Ronan enjoys a joke as they head to a harbour-view cafe
Beachside frolics: Keating and his children couldn't stop laughing during their day morning together
The youngster is working on horror movie The Sea, where she plays a tormented young girl.
And Ronan's no doubt delighted that he has the three of them near his side again, tweeting recently: 'Great day with kids. But missing my Missy as she is still on set shooting The Sea.'
Ronan and Yvonne separated earlier this year after a 14-year marriage, and Ronan is in a new relationship with Storm Uechtritz.
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