Prayers.
You need to tell your husband and the police. The police, first, and CPS, second, need to take the kids’ reports. The CPS can’t do anything unless they see actual bruises. Probably the same with the police but you can’t take the chance of doing nothing. With reports, she can take it back to court and maybe get full custody. If nothing else, at least make it where he can only have supervised visitation and not let him take them from school. Is there any way that your daughter and grandkids can move in with you for their safety? Safety in numbers, ya know. Don’t leave the kids alone, ever.
Thanks, such good advice from everyone.