If my dad has custody over me and abuses me, does he and DHR have the legal right to force me to choose between him and a foster home?

My parents divorced because of my mom's drug issue and my father has custody over me, but abuses and unreasonably controls me. I called the cops and got DHR involved and they're telling me to stay with my grandparents. I want to live with them but my father called today claiming that the DHR contacted him and told him that the only options I have now are to either move back in with him or go to a foster home. Is that right or can I move in with my grandparents, or my mom or whoever else will take me in? He'll make my life hell.