I am in a similar situation.
My H and I seperated in Jan this year, intially as a trial seperation, but I have since found out things that means it will be for good. My H also said to me things like "I don't love you" "I don't like you", it is soo hurtful when the person who should love you most says things like that to you, and it crushes your self esteem.
I (Like you) have divorced parents, who split up when I was exactly the same age as my DS (6 1/2). So I also think that I have failed him, and that I can't protect him from this hurt.
I must admit though since my H has gone, I feel so much more relaxed and calm, and I find that I am finding the old "Me" again. Like last Friday my DS and I put some music on and danced and danced around the house, this is something I would have never done 3 months ago.
What I am finding so difficult is other people's reactions to me, they don't know what to do or say, and I fidning myself avoiding them (Which I know is wrong).
My H and I are trying to be really flexible and relaxed with regard to our DS, who we both adore. My DS is now getting quality time with his Dad, as he used to just ignore DS and watch TV, now he takes him out, plays games with him, and DS is loving it.
I'm not saying it's all plain sailing, as DS is now asking why did Daddy have to leave, as we didn't argue in front of DS, and will we ever go on holiday again as a family etc etc, which I find so so hard to answer, but I am determined that DS will be effected as little as possible, so I am really careful not to say anything awful about H in front of DS or question DS on what he does or who he see's when he is with Daddy.
I think your H needs to leave, as I lived with my H for about 2 months after we discussed seperating, and it was a really difficult time. Then you can start to put joy back into your life, which will benefit both you and your DC.
You will be fine, you sound very similar to me, you know that the relationship is over, but you don't know how to get it all resolved.
I have decided that it's a long road ahead, but I'm taking one day at a time, and can honeslty say I am much much happier.
Take good care, and keep posting.