Emma
You in this relationship are trapped, unequal and controlled. Ultimately your only way out is to leave him as unpalatable and daunting as it may seem to you.
He is and has indeed played on your own niceness and naiveity here and has you completely over a barrel. He knows all too well what he is playing at here and is playing you for a fool. Does your DD have his surname too?.
Re your comments in quote marks:-
"no he isn't controlling in any other way. He's a very hands on father, I go on plenty of nights out when I can afford them, he pays me compliments, was very supportive when I went back to study "
When is this man ever a hands on father. He is NOT a good dad to his DD if he keeps you as her mother in penury. And as you have not been able to afford them you have not been on many nights out say in the last year or so. How many nights out has he had?. He lives the life of financial ease at your own expense and he really does use you as free labour. As for paying you compliments well everyone does that in a relationship, its the barest of bare minimums. Of course he was supportive re your studying; he still controlled the purse strings and had you still beholden to him.
"- I don't think he realise that he is being in any way abusive - the way he sees it we have a nice home in a nice area, food on the table etc - I'm hardly destitute"
He knows exactly what he is doing here. He sees his role as the Big Man, the star of his play which is he. He cares not a jot for you or his child for that matter. He's hardly destitute but as for you you're walking around being unable to see properly for want of a pair of glasses!.
" in addition to my salary I still have child benefit paid into my account & he pays this back through his tax return - his idea"
His idea indeed and a questionable one at that. Shows also how grasping of money he is as well.
"he's provided very well for me in the event of his death - house, shares and finances all come to me"
Where is the evidence of this?. How do you know?. You are not on the mortgage and have you actually seen the will i.e. was this drawn up in a Solicitors office with your full knowledge and in your presence?.
" he pays for life insurance, private medical and critical care for me from his account"
Again how does this benefit you, where is the evidence that he is doing this for you?
I would also think that his £100 transfer now and again to your account is his primary way of shutting you up. Its not enough to live on is it?.
He gives you an allowance of £100