He will have to keep paying child support I hope and assume I have no clue.
Respect is most important. I would divorce and collect the child support and raise my child in a respectful environment.
A single mother home is better than a toxic home with asshole father. That little girl will be happier seeing her mother alone, than see her mother tortured by her father and grandparents daily.
Divorce is the best and only option, and a good one. Keep your self respect and leave.