Daedalus was an honorable man trapped in a horrible situation because of his talent and through no fault of his own. He and Ariadne's and Phaedra's nurse provided some stability and adult attention that the girls would not otherwise have had, given their mother's mental breakdown and their father's coldness.
Although Daedalus' design and building of the Labyrinth allowed the story to continue, but Minos, with his greed, corruption, and cruelty, was the true catalyst of the story. His actions drew the ire of Poseidon, who instead of directly challenging Minos, chose to debase Pasiphae by driving her into the act that would result in Minotaur's birth.