You have worked in this area, OP?
Then you must know the risks, to you, to your daughter, and even to your pet.
You must know that your child is experiencing domestic abuse, and that this is a safeguarding issue. That you will be seen as unable to protect her if you do not act to change the situation.
You must know that Womens Aid and local Domestic Abuse charities support people in your position, and that they will do in with discretion and putting your safety first. The police have specialist domestic abuse teams, too, who work carefully and discreetly.
You could potentially apply to the courts for an Occupation Order, which gives you the right to live in the home (without him) for a period of time. If this is something you wish to consider, get legal advice immediately. You would also need to apply for a Non-Molestation Order to prevent him coming near to your home or contacting you.
But you might be safer to leave the home with your child (and your pet). The agencies will help you to do this quickly and safely.
What would you tell your daughter if she was in this position? To take a chance that the next one won't kill her? Bear in mind that if she grows up believing that this is normal, you may have to.