To my mind the correct option is E.
Without a moment's hesitation, the girl walked over to the table on which the book lay, picked it up, and walked out of the room.
This is the only option in which commas are properly placed to convey the message of this sentence, separating the ideas clearly, making the reader to stop after them,
The first option has a comma between the noun of the subject and the verb, which is wrong,
The second one has misplaced commas.
The third one has a comma between the verb and the preposition of a phrasal verb, separating it, which is totally wrong.
And option D, also has commas in wrong parts of the sentence.