I can just see her future with a not right man.
I've tried to gently speak to him about it before but he gets angry, defensive and gives me the silent treatment.
I can’t let it go on. ...
I can recognise some of it as how his mum talks to him, critical and inpatient...
I’m not in a financial position to leave, so I need some way to get him to see how badly it’s affecting her.
He has to unlearn what he learnt when he was growing up. Unfortunately the abuse he has suffered from his mother throughout his life has become normalised for him. It made him who he is, and this will be difficult to unlearn.
That's assuming that he'd be willing to recognise that what he is doing to his daughter is not just wrong and harmful but profoundly abusive. Talking to him gently will not achieve this. You absolutely must step up and address this calmly but forcefully.
Protecting your daughter from her father's emotional abuse must be your absolute priority. If she can go to school while you are working, that's a good start, but you must calmly intervene every single time he acts in a way that is distressing to your daughter.
Ultimately, though, he will need insight, willingness to address his issues, and counselling with an experienced therapist to get to a point where he can learn to become a good father. Sadly, I fear that unless you get yourself in a position of power - and I mean the power to leave! - he will just carry on regardless.
I realise this is a big ask, but can you increase your hours, go full-time, retrain for a better paying career - whatever it takes to be able to get yourself in a position where you are no longer dependent on him. Once the current crisis is over, obviously - though it's never too soon to start planning.
Women's Aid, Gingerbread and Shelter have useful information. Check out their websites. WA's Freedom Programme may be helpful. Also read this: Codependent No More by Melody Beattie. I think you will find it enlightening. 