It helped us. We were both really angry with the other, and just kept having the same fights over and over. The first thing we learned in marriage counseling was how to have fair fights.
I really don't think we would still be together if we hadn't gone, and we are now very happy together. My vote is to try it. There is a sweetness to making marriage work, especially if you have children together.
However, if your husband is controlling, abusive, has a personality disorder, etc., marriage counseling can't fix it, and may make it worse. "Why Does He Do That?" is a very good book. No body can make a marriage work if one of the people is just too messed up for it to work, and some men use things that are shared in therapy to hurt / emotional abuse / control their spouses. If this is the case, all you can do is make an exit plan, and get counseling for yourself without him.