sorry to hear about your dad's illness.
I agree with everyone here - your DH is being EA.
Re not consulting him, there really wasn't much to consult him with as you really do have to go and spend this Christmas with your father. Consultation implies there would be some negotiation, consent needed, etc and your dads needs are so much greater that your DHs right now that I would have agreed to your mums request and them mentioned to DH the plan. Mentioned, in a discussion Babur not a conversation that needed his approval. I can't begin to imagine my DH behaving like this. I would have mentioned my plans, and he would have been right with me, asking what he could do, arranging alternate plans with HIS family.
Re, withholding affection until Christmas - as another poster says, is he 5? But then, a 5 year old will only humph apfor a while then realise they miss you and come back for cuddles fairly soon. Telling you he will withhold until Xmas is so manipulative and really cruel. This is not the behaviour of a loving husband.
I think your daughter might be anxious as she sees the tension in the house. She will be worried about how her decision affects her dad's mood. Is he controlling towards you in more subtle ways? Maybe she's picking up on that.
Your plans are showing her the right way to behave, that sometimes plans have to be put on hold/altered to suit family circumstances and someone's serious illness is one of those circumstances - you are showing her that family comes first. Your DH is showing her that it is ok to to sulk, to manipulate, bully other people, those you love, to get what you want.
I would take your daughter. If this might be the last Christmas that her grandad is well enough, she will want to spend that time with him. It might be a little difficult, but in future times, she'll be glad she did, as will you.
I am lucky in that my parents and in-laws see Christmas as simply another day. There is no pressure from either side to spend the day with them, and they don't mind if we spend the day NOT visiting and just have Christmas as a wee family unit and visit Boxing Day or the 27th. So I hVe never felt the pressure of having to visit one set of parents over another. But in your case, it really in a no brainier. You spend time with your dad. Your DH needs to accept and understand why this should be the case. Or you might need to look at his behaviour for what it is, does he make a habit of this type of controlling behaviour.