Hi, L.. Well, it certainly sounds like something specific happened to scare your little one. His kicking and screaming show anger, but then he shows anxiety when you put him down and he wants to be held again. I don't think it has anything to do with your coming home late, because if that was what was upsetting him, he would've cried for a little while after you came home, and then been OK once you held him. He's probably going through some separation anxiety, but again, once he's reunited with a parent, he should be soothed and calm down.
Lack of routine would only account for some fussiness, not a 2-hour rage. It wouldn't hurt to establish a firmer routing in order to give him some structure, which would give him a better sense of security and predictability, but I don't think that's what upset him, either.
Does he go to daycare? It's likely that something upset him there, and he put it aside, and then maybe the story Daddy read to him brought it up again. It's possible that another child upset him, maybe even one or both of his brothers. They're a lot older and bigger than he is; even a little teasing or a little hitting can be very scary and humiliating for a much younger child.
See if you and/or Daddy can spend some calm time with him talking and drawing pictures. See what he comes up with. He may be able to draw for you what he doesn't have the words to say. Older kids who pick on younger kids count on the little ones' not being able to tell on them. This creates a huge feeling of anger and frustration for the little ones.
Remember also that he's in his 2's, and this is a time of great changes in a child's life. He's saying "No," he's learning how to be powerful and master his world... if the world gets really frustrating, he doesn't know how to cope with it yet, and the only thing he can do is act out at his age. See if you can find out what's upsetting him, and see if you can help him solve the problem.
He may have just needed to have a really big tantrum, and this may be a one-time occurence or something that won't happen all the time, but I would still give him some attention in other ways and see if he can let you know what's wrong.
I hope his tender little heart mends from whatever offended him, and he returns to the peaceful little boy he was before this.
Peace,
Syl