That's a nudibranch. Unfortunately, there's A LOT of species of nudis and most are NOT reef safe. There are a couple that are, one being the Lettuce Nudi, though yours looks different colors than the lettuce nudi.
Most nudis take on the color of what they eat. Most nudis are "obligate" feeders, meaning they have ONE thing they eat. Once that food source is gone, they usually starve. Unfortunately, most eat our corals!!! There are also some that eat flatworms, some that eat algae...etc. Because of this, it's kind of important to properly ID it before putting it back in your tank!! Hopefully Leslie will hop on soon and give you an ID. She'll know!!