On December 9, 2019 it was revealed that, for the 2020 IndyCar Series season, Daly was signed to contest the 12 road and street circuit races in the No. 20 Ed Carpenter Racing entry. Daly was also contracted to compete in the 2020 Indianapolis 500 in an additional Ed Carpenter Racing entry. On March 10, 2020, Carlin announced they have signed Daly to compete in the remaining oval races in the No. 59 entry, thus giving Daly full-time status for the 2020 season.