Oh yes you can take her with you, and there's not a damn thing he can do about it. Once you do leave, he'll also be obliged to support her financially.
Will your family help you get out of this situation and could you go and stay with them? If so, get in touch and let them know and start making plans to get yourself out of there.
Things you need to think about: have you contributed in any financial way to the house that can be proven? If so, try and get that proof - have you paid towards the mortgage etc.? Over the next few days, while he is out, get copies of as much paperwork as you can. Although you're not married, it will be useful to have copies of bank account details etc. Can you get access to any cash that you can withdraw just before you leave? Can you have a reason to have an amount withdrawn from the joint account - e.g. a bill that needs paying - which you can then take with you?
You need to take with you all your own and your DD's paperwork - birth certificates, passports etc. Also, take anything personal to you - photos especially, they can't be replaced. Anything of sentimental value that you can carry. Clothes etc. can be replaced easily, so don't worry too much about those - just a few changes each and anything valuable/useful. Get details of his employment to send to the CSA.
Also, get in touch with Womens' Aid. You are being financially abused - you are being kept without access to your JOINT money (yes, it's joint - he does the work outside the home, you do the work in it- so you both contribute - the money he earns is FAMILY money, it's NOT his). Ask them how you can make it known that this is your situation and the reason you are leaving - they may advise you to get in touch with the local domestic violence unit, for example, who could give you advice on how to leave him safely. Having a record of this is useful when it comes to access and custody issues. You are your DD's carer and there will be no question that she will stay with you - but if he tries to take you to court, it will be very useful to have a record of the fact that you left and moved away because of his financial abuse.
Finally, don't make the mistake of listening to his threats. They're classic, what every nasty piece of work says to make a frightened partner stay. If you left tomorrow and he went to the police, they'd tell him where to go if he tried to 'report' you or get them to 'bring you back'. He's got no right to make you live with him, and as you are your DD's main carer, he'd have a tough court battle to get anywhere with more than the minimum access, especially if there's a record of his threats against you and his nasty behaviour. And if he turned up in your home town or wherever you moved to, he'd be removed sharpish by the police and you could then get an injunction against him (not a wise move on his part if he did want regular access to his daughter).
Don't be afraid. He has no power here - all you need to do is walk out the door. Get in touch with family if they can help, if not, Womens' Aid. Good luck.