The inquest in Kendal heard three weeks of evidence from almost 40 witnesses including Poppi's parents, Cumbria police who failed to properly investigate, and medical experts with conflicting views on what happened to the toddler.
It also means no-one will be charged with any offence.
A toddler who died in unexplained circumstances had suffered injuries caused by serious sexual assault, a coroner has ruled.
Her lawyer Fiona McGhie said the mum - who can not be named for legal reasons - was "disappointed" Mr Worthington refused to answer 252 questions about his daughter's death during the inquest.
He claimed he then ran downstairs and the child's mother, who was sleeping downstairs, called an ambulance.
Paramedics rushed the apparently lifeless child to to Furness General Hospital at 6.11am.
Roberts said that Poppi was taken to bed by her father on the night of her death and she was unable to breathe properly after he laid a cover over her and they both went to sleep.
But in his conclusion, Mr Roberts said Paul Worthington's account "did not stand up to scrutiny".
Crucially, Mr Roberts gave weight to the findings of Home Office pathologist Dr Alison Armour who had said she was certain to the "criminal standard of proof" that injuries sustained by Poppi had been caused by "penetrative trauma" before she died. I was given a case file by the police that had so many gaps that I was left with no choice.
"She is disappointed that Poppi's father chose to rely on his right not to answer questions which may incriminate him".
Mr Roberts said: "I have considered Paul Worthington's accounts to see whether I can obtain from his evidence a complete and reliable explanation of what happened".
The 49-year-old was forced to live in hiding after a judge made public the conclusion that Worthington abused 13-month-old Poppi hours before her death.
The investigation into her death by Cumbria Police was severely criticised after officers failed to collect vital evidence and the Crown Prosecution Service (CPS) reviewed the evidence in 2016 and found there was "no realistic prospect" of a conviction.
He sobbed in court as he was asked if he had sexually abused Poppi. Dr Nat Cary, a former Home Office pathologist, said the condition of Poppi's bottom was a common phenomenon in child deaths.
The startling revelation came as Worthington spoke from behind a 7ft screen in the courtroom.
Shortly after he returned, he noticed Poppi was limp and not breathing before rushing her downstairs.
Worthington may once have believed he would escape unscathed from Poppi's death.
This inquest is particularly challenging for the coroner due to the loss of evidence in the investigation carried out by Cumbria Police.
Cumbria Police's chief constable Jerry Graham apologised for his force's failures.
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