Has she had an OT eval? My dd10 was an extremely sensory-seeking child when she was young too... and she had a very short attention span. Things we did with her that may or may not help your dd:
We got one of those gnarly-looking sensory cushions to sit on. She didn't sit often, but when she did, it kept her from squirming non-stop.
We had her wear a leotard (gymnastics type, tight-fitting) under her regular clothes - part of her squirminess was due to weak trunk muscles.
We had her swing. Swing for as long as she wanted to - a LONG time. Fortunately she loved to swing

It helped use up some of her energy, and it also helped to build up her strength in her trunk muscles.
She had listening therapy for about 9 months when she was 5. That helped her with focus.
Not the same thing as listening therapy, but putting headphones on (not just ear buds) and playing music helped her focus when she was working on art of schoolwork etc - she *still* uses them in 5th grade while she does her homework - it helps her to have the distraction of the music to stay focused.
Have you had your dd's vision checked? Unbeknownst to us, all the years our dd was a high-energy bumping-into-everything, falling-off-all-chairs preschool kid.. she also had severe double vision. Once she'd had vision therapy, most of the bumping/falling/etc behaviors disappeared.
And have you considered ADHD, or is she too young to consider it? We used to have doctors and teachers always telling us they were convinced our dd had ADHD (and *not* the inattentive type lol). She's been evaluated for ADHD and is very definitely *not* ADHD per the diagnosis guidelines - but she's still, at 10 1/2, a child who is very active, needs to have breaks and be active and burn off excess energy.
Best wishes,
polarbear