Likely, your trans had the correct amount of oil. If you just pulled the plug and did not do the fill and check procedure, your trans fluid is likely low now.
As shown above, the trans needs to be at temp, engine running, and moved the shifter through the gears. Only then (with the engine running but in park, raised up on level ground), do you remove the fluid level plug.
Oil will drain from other areas of the trans, mainly the torque converter, when the car is off. When you turn the car on, the trans fluid pump pulls from the pan and fills the torque converter, lines, pistons, etc.
Time to go to the dealer and get this corrected. If your trans was slipping, you need to tell them this. DO NOT tell them you drained fluid out (they could use that as an excuse to void your warranty).
Likely, they will blame the slipping on the low fluid (even if this is not the cause).
Cars are not like they used to be. Read up and inform yourself.