We had a somewhat similar issue with my DD’s teacher in Y3. I won’t go into details, but DD was also a well-behaved, school-loving child that was increasingly demoralised and resentful of unjust behaviour from the teacher. One time I did go in to clarify something with the teacher, and she lied to me about what happened, so I emailed the Head, and DH and I went in for a meeting.
The angle the Head chose to take in that meeting was to focus on my DD’s emotional wellbeing, which rather elegantly took the focus off the teacher (who was an NQT and I suspect needed more support than the school were providing). Although this was rather irritating at the time, actually it was sufficient, as I suspect the teacher was a little gentler with my DD after that, and the Head kept an eye on my DD for the rest of that academic year, calling her in a few times for a chat.
For us from that point on (it was the first term!), it was really a case of supporting DD through that year. We just hung on, kept reassuring DD and reminded her that there’s only a few months to go… That teacher passed her NQT year and is still the least popular teacher in the school.
I agree with others that say that the weight of pressure will eventually make a difference, so you do need to add yourself to the list of complaining parents, whether that’s by email or requesting a meeting (take full notes of anything, as others have said). Given my experience, I would recommend focusing on your daughter’s wellbeing rather than the teacher’s faults. I would also ask for assurance from the school that the teacher will stop using the terms ‘useless’, ‘lazy’ or ‘pathetic’ – or other derogatory equivalents – even as a ‘joke’, as these are upsetting your child.