How do I break the habit of my 1 year old nursing to sleep and sleeping with me?

I love sleeping with my daughter and the connection of nursing her to sleep, however I don't want her to become dependent on me as a sleep aid... Also I am sleep deprived from her rolling around all night and occasionally wanting to nurse. I've tried nursing her to sleep and then putting her in her crib but she will wake up hysterically crying 20 minutes later. The only way she will stay asleep is if I am snuggling her, so when she goes to sleep, I have to go to sleep. Help!