My parents won't let me see my boyfriend!

So last summer I had sex with my boyfriend and he had taken a picture of me but my face didn't come out. He felt super guilty afterwards and asked me if he wanted me for him to delete it but I was stupid back then and told him that it's okay. He had sent me the picture while I was asleep and my parents saw it! I just straight up told them the truth since I was panicking and they got so mad at me my dad hit me and even called my boyfriend threatening him to never come near me again. They didn't let me see him the whole summer but thankfully my parents saw that he waited for me the whole time and that he truly loves me and gave our relationship another chance. Everything was going great until my boyfriend and I had unprotected sex so I took Plan B. My mom found the Plan B box in the trash and started crying telling me that she was disappointed in me. I'm 16 and I understand my parents on how they feel and I feel so guilty for being so stupid and hurting them with my actions. Time has gone by so things have cooled down but my parents told me I would never be with my boyfriend again. My bf just turned 18 so the age is a problem now, but we're still secretly together and I'm really sad because we love each other so much and have been together 2 years already. He treated me like a queen and he cares a lot about me. I know I made a mistake, but everything is so hard right now and I don't know what to do.. My parents will never let me see him again.