DS used to be a pretty good sleeper until about 2 months ago - bath with his sister, milk, brush teeth and down in cot - woke up early but that's seems like nothing compared to now! He started being unsettled at bedtime and wanting us to stay with him, literally patting the pillow and wanted one of us (usually me) to put my head there. When we try retreating and closing the door he goes crazy, crying, screaming, and then he climbed out of his cot and could have really hurt himself. So we decided the cot sides should come off... (we did this at a similar age with DD). Now he is loose and crazy! If we do stay with him and creep out when he falls asleep he inevitably wakes up around 12 or 2 and cries again and gets out of bed wanting to come into our bed - as we have been so tired we have let him come in quite a bit and he sleeps fine (we don't though as he is a real kicker etc - this is why we are so desperate to get him back in his bed!) - attempts to get him back in his own bed just enrage him more, he also starts demanding milk which he really doesn't need...we don't know what to do!
We have been on holiday recently and were more lenient with where he slept as in different hotel rooms etc - and I fear this has just made things worse. We have tried returning him to his room but he just kicks and screams and comes immediately out again. I don't want to close the door on him (DH does) as I'm worried he will hurt himself by throwing himself around in his room.
HELP! I just want him back happily sleeping in his room 
I'm also worried he isn't getting enough sleep now as he is up so much raging (if we somehow manage to settle him back to he'd by lying there he will just do the same when he next stirs). Any suggestions MOST welcome!