I'm not in a healthy relationship and I don't know how to get out.

My husband is abusive both physically and verbally.
Yesterday we got into a disagreement and he ripped my child(6 months old) from my arms, set her on the couch and then proceeded to push me into a wall multiple times.
He also threw a remote at me while I was holding our daughter. It missed me, hit the wall and shattered.
When I tried to leave he was told me I wasn't going to take the animals with me if I left. He knows that's a way to get me to stay because I would never leave them with him. When I threatened to call the cops he said he would leave with the animals before the police got there.
I ended up staying because I don't want him to hurt my animals(they are my babies too). I got so frustrated at myself for staying and how he treated me that I punched a hole through the bathroom door. I refuse to put my hands on him, so I figured a door was a good way to release my anger.
If I were to manage to get out he knows where I would go, and I'm afraid he would come there to get me back. I don't work so I have no source of money in my own. He has the only bank account and I have to ask him for money if I want to buy anything.
I need some advice or words of comfort. I don't know how my life ended up this way and I need to fix it for my daughter!
EDIT:
I'm located in California