There is only one thing that matters here: your responsibility to your children.
They did not ask to be born, they are totally dependent on you and the life you choose for them.
If you choose to stay, there are a number of consequences:
you are taking a definite risk that one or both children will be killed or permanently injured
you are taking a definite risk that your children will grow up motherless because you have been killed
you are taking a very strong risk that they will be taken into care if you insist on staying with their father
in later life, they will know that you chose to take that risk because they were not your first priority, and that feeling is something they will have to live with all their lives
they are likely to end up traumatised by their exposure to domestic violence
your dd will grow up thinking that this is how women should be treated and what she herself will have to put up with as an adult- do you want that for her?
if your baby is a son, he will grow up thinking this is how he can treat women- would you want that to happen?
I know it's harsh, but it is not about your dh, it is about your children.
As SGB said, a decent man who had ended up hurting his wife once after over-indulgence would do something about it. Your dh chooses not to.