S.B.
I have had my sons cry it out more than once. Usually after illnesses during which I let them sleep in my bed. After which I had to get them back into their beds.
Your child is now old enough to understand you (even if he can't talk much). Tell him you are very tired from all his waking up & you need your sleep. Tell him that tonight he will NOT be allowed in your bed, no matter how much he cries. Tell him you will check on him once if he cries. You will make sure that he is ok, then you will leave & go back to bed. (You must follow through on this point. I wouldn't even stay to rub his back or rock him. Do remind him you need to sleep). The 2 times I've done this its worked beautifully. Very little crying. (My youngest is just turning 24 months now).
Good luck, I hope you find something that works for you.