Domestic violence for 12 years

Hi, I am 38 year old woman basically from India, but living in the UK and have been married for 12 years. Before judging me for being crazy for living with such a man for that long, please read through my situation. I got married in 2006 as per hindu law. First month was fine but from the second month onwards, my husband started physically abusing me for petty reasons. Even getting families, involved did not change much, in fact his parents were more supportive of him despite being aware of his violent nature and there were other things they've done to cause emotional trauma not just to me but my parents as well. Despite all this, my parents emotionally blackmailed me into continuing with the marriage. Even though its not a daily occurence, the violence been happening every so often even now, last time he hit me was on the 19th of Feb this year. In fact, I had to call the police one night in 2014 (if I remember it well) when he assaulted me in front of my daughter (she was 3 years then) when I was holding her in my arms. He was incarcerated for a night and I withdrew my charges being the emotional person that I am. I was blamed for the action by everyone which is why even though there was abuse subsequently, I did not take the same action which I agree was a mistake. My love for him stopped me from ruining his life by calling the police again. I used to work until 2012 but had to quit because he took up a job which required travelling often but I have started looking for a job again. In these circumstances, what are my rights? I'm willing to provide more details but would my 6 year old daughter who has always witnessed the violence be able to testify if I applied for a divorce on the basis of domestic violence?