I just kept calmly asking him to please not speak to me in that way in front of our daughter. This boundary is still not working and he does not listen to it.
Boundaries are about you, not about him. Asking him not to do something is not a boundary - it's a request.
A boundary is "If you do X, I will do Y." Then you consistently do Y.
"If you speak negatively to me, I will leave the room/not accompany you on the outing/etc."
It takes a lot of practice.