The singer threw himself over his one-year-old daughter and eight-month-old son, but couldn't stop the force of the vehicle, The Sun reports.
Peal, who would have been two next month, was rushed to hospital but they weren't able to save her.
In a statement released by South Wales Police, Paul and his heartbroken wife Gemma said: "Pearl was every single star in every single sky, she was as bright as the stars, when she looked at you with those eyes and she would melt your heart.
"She was the reddest pearl in the ocean and the sweetest melody ever written.
"She was the greatest dancer and she has left a massive hole in our hearts, the world will be a darker place without her."
Now, just two days after the crash, Paul has taken to social media to pay tribute to his daughter.
“My life is on hold indefinitely. Thank you for all the kind thoughts and messages,” he tweeted earlier this morning. “I’m a broken man. Our beautiful family has been savaged.”