The fact you waited this long to do anything about is just proves your husband right, you ARE insane ... for allowing it to happen in the first place! How long has this been going on? Instead of coming here seeking advice, grab your kid(s) and run! Just out of curiosity, before you married and agreed to have children with this monster, weren't there any signs? How long did you know him before you got married, anyway? Was he ever convicted of rape? Ever spend time in jail for ... anything at all? Was he previously married? Same problem? Why do women marry weirdos and then proceed to have children with them and complain? I don't get it *shaking head*.
No matter what he says or does, if he threatens you with a lawsuit, if he says he'll kill you, if he says he's going to kidnap your daughter ... do what it takes right NOW to get the hell out of there. Leave your belongings, move in with your mother (or a trusted relative) and call the cops on his sorry arse before he gets you for kidnapping! If he's desperate enough, he'll do anything to make you look incompetent; don't let it get to you. Report him to the police before he even realizes your gone. And ...
DO NOT leave your daughter unsupervised. Ever. Meaning, unless you're with her 24 hours a day (in the beginning), there's no saying what he'll do. Take her out of school, don't even leave her with a parent or friend until you feel you're safe.
Some mother bear you turned out to be. No disrespect, but seriously ... this NEVER should have happened. At first mention you should have gone straight to the cops and had a restraining order against him.
Wishing you all the best.