DH is being reasonable. Be braver.
As children acquire more skills, the parents job is to let them have more independence to practice it. Learning how and when to manage risk safely, is how they grow up strong and independent..
To be healthy adults, they must learn to negotiate danger safely. How to cross a road alone,. walk alone or cycle to school or their friend's house or the corner shop, catch a bus, take their pocket money to the shop and spend it as they see fit.
They need to practice these small graduated risks safely (as DH says) so that they will be ready for the big ones.
In a few years time, DC will be making relationships outside the home and beyond your supervision. . For which they need to have developed some self confidence and healthy instincts ; know the difference between what' feels safe / risky/ totally out of my depth.
In 10 years time DC is going to learn to drive, pass their driving test, and you are going to have to accept they go out alone driving a car.
Long before then, parents have to unwrap the cotton wool, loosen the apron strings, demonstrate proper risk assessment, self confidence, self esteem. Because we are the role models for our children.
If we role-model fear, timidity, lack of confidence, anxiety, then that's what our child will learn to be.