Well, yes. But obviously that would be an emergency removal if the child was in imminent danger.
There has to be more to the story.
as example if that happened (out of the blue) then they had to have acted on definite information. usually law enforcemnt is involved also. Then you would be given a hearing within 48 of removal to answer the allegations ( admit or deny); if you admit then services will start immediately to unify the family; if you deny there will be a hearing (a trial) inwhich you have the chance to present your side as the stste will present their evidence.
The child will stay in foster care until the court makes a determination ( ruling) that the child should be returned or stay in state care until certain requirements are met by you.
In a few jurisdictions, you can be appointed an attorney , but in most you are not entitled to a court appointed attorney since this is a civil matter. Legal services (legal aid) http://www.lsc.gov/ might can help you if you are income qualified.


