M., I hope that you will bear with me in this post, really read it and try to understand that I'm being honest with you, given the info you've given us here. I don't live in your household so I don't have a bird's eye view into how you two handle your daughter.
My feelings are that your husband is scared of her and she knows it. Children need clear limits and total consistency, and when a parent is afraid of a child, this is what happens because children NEED the parent to be strong.
You haven't mentioned if your child talks much yet. Frustration because of not being able to effectively communicate can turn into ugly tantrums. If your child isn't talking much yet or has trouble being understood, ask your ped to refer you to a speech pathologist for an evaluation. Your health insurance should pay for the evaluation. Discuss the tantrums with all concerned. This is very important.
Yes, tantrums are normal at this age. But coming up to your husband and trying to kick him? No, that's not usual... Your husband needs to take this child in hand. He should grab her hands and not let go and tell her "NO HITTING." If she doesn't stop immediately, he should carry her into her room and put her in there and walk out and shut the door. The doorknob should be turned so that the door locks from the outside. Do not let her know you two are listening outside the door. She needs to be alone in the room so that she thinks she has NO audience to the tantrum.
If she throws things in her room or breaks things, they need to be removed from the room and not given back for a long time. Yes, she's only 2 1/2. And it WILL take a long time for her to get this internalized, but she needs to lose what she hurts. She needs to be separated from the person she is trying to hurt. You have already said that holding her during a tantrum doesn't help. (Some kids, it does. Not yours.)
If you all or just her and your husband are out and about, the moment she starts a tantrum, he needs to walk away from the grocery cart or whatever and pick her up and take her to the car and put her unceremoniously into her car seat and strap her up. Heh should just STAND outside of the car out of her line of sight and wait it out. When she sounds like her screaming is diminishing, open the car door and say "Are you done?" If she starts the screaming again, close that car door and move out of her sight again until she gives up. It's important that you two show her who is boss in the household by not allowing her to "win" this. In other words, she never gets her way when she has a tantrum. NEVER. Even if it gets in the way of your family fun. A tantrum at Chuckie Cheese's? Leave. A tantrum at a restaurant? She's in the car with one parent outside of the car waiting out the tantrum and the other parent waiting for the food to be take out (and please tip the server.) A trip to the park? Nope. Home you go. And into her room as soon as you get home, telling her that she is in time out because of her screaming and hollering and trying to hurt people.
She HAS to learn in increments that you MEAN WHAT YOU SAY AND YOU SAY WHAT YOU MEAN. No, she's not going to learn it all at once at this age. But you HAVE to be consistent and show her that she cannot get anything she wants like this. Indeed, she doesn't even know what she wants most of the time. She just knows that she feels out of control and the way she is dealing with it is by acting like a little monster to her daddy.
You must stand firm alongside your husband and make sure that you are both using the exact same methods of discipline. Immediately you both say "NO HITTING!" and he picks her up and deposits her into her room and leave her in there. Nothing inbetween. DO NOT try to talk her through this, M.. She is too young for that. She may scream for an hour the first several times. No matter. As she comes to the understanding that her behavior will not be tolerated, she will scream for a shorter amount of time. You both should also teach her to say "I'm sorry" for hitting after the tantrum is over as well.
This is called "toddler tough love", mama. It's hard, but you two had better toughen yourselves up or you'll find that pre-schools won't have her, playdates will become non-existent and you'll be wringing your hands everyday. What is happening now is directed towards your husband, but will end up being directed towards everyone.
As far as other ideas are concerned, make sure that you have a very clear schedule. Awake every morning at the same time. Snack. Lunch. Clean-up between activities. Nap. Snack. Dinner. Bedtime. SAME TIME every day. Don't take her anywhere if she is hungry or tired. Make sure your errands and any appointments take her schedule into account.
I get that your husband "sounds" a little more stern than you, but that's immaterial. The physical act of separating her from both of you is what will finally get through to her. Yelling or shouting back at her will not help (it will just make her feel more out of control), and as she gets older, yelling at her will just be ignored because she'll get used to it.
I wish you much luck. You both CAN do this. Do it NOW while it's easier. The older she gets, the harder it is to manage tantrums. And yes, there are kids who have tantrums even up into the elementary grades. Hopefully if you manage this well now, your child won't be one of them...