Bethy-I have no legal advice but...
I am a submissive person and a crier like yourself. I go out of my way to avoid conflict and arguments. My ex sounds ALOT like your husband. Once they know they can push you around, that is ALL they will do. They will also tell you that you don't deserve any better treatment and after a while, you'll start to believe it. I put up with 10 years of ugliness and hatred spewed at me on a daily basis because I was too meek to leave and I thought I wasn't a good person and I deserved the treatment.
One day something snapped inside me and I walked out. It was the best decision I've ever made. I thank God every day that I made sure we never had a child together. I deeply regret that I'll never get those years back, basically my entire 20's, but I now know I am a decent person and deserve to be treated with respect.
Now I have a husband who lifts me up instead of pushing me down and even though we have some issues, respect is not one.
RUN. RUN NOW. If the daughter you have is with him, don't allow her to grow up thinking that it's okay for a man to treat a woman this way. She will be scarred and will eventually find a man just like daddy who sh$ts on her too.
Just my humble opinion.