I am so sorry you are going through this.
Let me tell you one thing about my life.
My dad treated my mom the exact same way that your husband treats you. She never left him. She stayed for me. Now that I am grown and have a family of my own, I know that I would have been much happier if she would have left him. She would have been happier too. It might be hard on them at first, but it would probably be better for them in the long run.
I was always so nervous just waiting for my dad to blow up at my mom and tell her how stupid she was... they might feel the same way.
I hope everything works out for you the way you want it.