Yes.

Student or Learner
I am wondering if my sentence sounds natural. Do I need a comma after "daughter"?
Peter is concerned about his daughter who is lying with pneumonia in hospital.
Yes.
Would my sentence be correct if I delete "who" and write it like this:
Peter is concerned about his daughter, lying with pneumonia in hospital.
It would be more natural like this (in American English): Peter is concerned about his daughter who is in the hospital with pneumonia. BrE would omit the definite article.
I am not a teacher.
I see no reason for 'lying'.
'Peter is concerned about his daughter, who is in hospital with pneumonia.'
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