Landry was released back to them at around 11:30 a.m. after Thompson said she contacted Tulsa police for help.
The Houston Police Department said in a statement that patrol officers spotted the car in front of the gas station at about 3:20 a.m. on Sunday and that the two adult men and the juvenile female were sleeping in the car.
"Given the age discrepancies between all involved, the fact that all three were from out of state, and the child had no relatives in the area, officers, in an abundance of caution, did their utmost to ensure her safety," the statement said. "In this instance, that involved further investigation by CPS."
The police department declined to answer additional questions about the incident.
Thompson and Hurd both believe race played a part in the situation.
"Racial profiling right now is really bad in America," Hurd said.
He mentioned Trayvon Martin, an unarmed black teenager shot and killed in Florida, but didn't want to talk specifically about that case since he said it's hard to know what really happened.
"What I do know is that he is not alive to speak out about it. He's not alive to say his side, but we are so we are definitely speaking out. We're definitely going to continue to speaking out about this situation because it hasn't stopped and it needs to."
Destiny Thompson said she has an attorney and Hurd said they are exploring taking legal action.
Landry said she was very scared and said she "definitely" thinks race played a role in what happened.
"I don't think that should have mattered at all," she said.