So sorry Always. As many other posters have commented he is unlikely to change. Men who are abusive or controlling tend to behave in very similar ways, because the types of men who give themselves permission to physically or mentally abuse their partners, tend to be types of men who see their partners and children as objects to be controlled.
They are generally selfish, often lazy in terms of housework /childcare etc, and have a massive sense of entitlement; and very rigid, fixed views on gender roles etc that cannot be changed. They also often have very poor concepts of other people's personal boundaries - e.g. by continuing talking on topics that distress you even when requested to stop etc, yet will react with outraged dignity when their boundaries are encroached.
You say your husband is 'emotionally childlike', but you can't help him grow up or learn to respect boundaries. The reason why abusers are abusive is that it works for them - that's all; and they get status, power, control, and everything their own way - and very hard to give up if you have been accustomed to this since childhood.
I would recommend you to get out; however as someone who has been in your shoes, I know that it is very important to feel as though you retain some control over your own destiny.
There are perpetrator courses out there which he can voluntarily refer himself, however please do not let him fob you off with 'anger management' courses / therapy - this is not an anger management issue - it is of abuse and control. Any perpetrator programme however tends to have really low success rates because even when partners take an abuser back, the abuse tends to creep right back in.
As you know, what he has done to you is an arrestable offence which you could choose to report him for. If you do not wish to do this at this time, I would second the advise about talking to your health visitor / GP so at least the abuse has been officially logged for both you and your DD's protection.
I would recommend that your H leaves your property; however if he refuses or you don't feel that you can make him leave, you will need to think about safety plans for yourself and DD. Please talk to your friends in rl. Find key documents such as mortgage, bills, passports, birth certificates etc and give them to a trusted friend or family member, along with any sentimental items. If you have very trusted neighbours, you could talk to them, agree a code word that you could shout so that they could call the police.
However, please keep yourself and your daughter safe, and if you feel in danger call 999 and just get out of the house - items can be replaced but people can't.
From now on, your h is not your friend. Anyone that hurts you cannot be a friend 