Congratulations on having the courage to leave!!! Congratulations on wanting better for your precious daughter!!! And congratulations on having the courage to ask for help!!!
I'm not sure what resources there are in your area (I live in another state) but you can usually call the county health department or social services for referrals.
You're right when you say that you're afraid of being alone. I think your depression is more about being alone than it is about this guy who is not good enough for any woman. Ending the relationship permanently means that, deep down, you are feeling like a failure. When your parents didn't like him, you probably thought that they just didn't understand him. When you had a baby, you thought that he would change and grow up. When you left, you thought he would realize how good he had things and want his family back. Now you're having to accept that you were wrong, each time. You're having to accept that you AND your daughter weren't as important to him as you thought you were. You're probably thinking that if you two weren't meant to be together, that you've wasted 5 years, a full quarter of your life. It's very, very painful and overwhelming. You want to be with him so that you can assure yourself that you made the right decisions in the past.
If we didn't make mistakes, we'd never learn anything!!! You have now learned SO MUCH about human nature, relationships, being a parent and growing up! That experience means that the time and relationship are NOT "wasted" if you learn from them! Go forward knowing that it has made you stronger and wiser.
DO NOT get trapped in thinking that having the baby was a mistake, and that being a parent means that you can do less with your life!!! I had a baby at 20 and another at 21, and I could not believe how many people seemed to want me to think that I had thrown away my youth and opportunities. Being an adult means that you can decide what you want to be and MAKE IT HAPPEN. Everything worthwhile in life takes enormous, sometimes exhausting, effort, but then at the end you have earned something wonderful that YOU made happen! Find classes, support groups, scholarships - whatever you need to choose your own path. Those two babies of mine just graduated from college. :) My life is better than even I thought it would be.
Don't worry that getting older means being less pretty or desirable! (And don't measure your worth by whether or not men pay attention to you.) Don't worry that you'll never find a man who wants you and wants to be a dad to your daughter. It might be harder to find quality men, but that's why diamonds are worth more than common rocks - they're rare, and therefore valuable! Don't be in a hurry, but don't give up.
You get the chance to create a future for yourself and your daughter. It is COMPLETELY WORTH IT to make that a future without this man, or anyone like him, in it!! You're worth it. Your daughter is worth it.
Hang in there! Don't get discouraged! Throw away his phone number! Go out and create a better life!