A few red flags pop up to me in reading this thread.
The first is that the Court has restricted you from making allegations against the father to police and CPS. This is not a common or flippant order that a Court will make. It's entrenched in legislation that a child's safety takes precedence over the benefit of having a meaningful relationship with each parent, so to limit contact with the authoritative bodies best able to protect children is a very significant step for the Court to take. I'm guessing by other comments made here that the order was made because, unlike the Court, you still believe the father is dangerous or has done something wrong.
The second is your attitude toward your son about his relationship with his father. "It's only four more years, try not to upset your father, I have told my son I have to obey the orders, he needs to know the truth." To me, it sounds like maybe your son is being inadvertently rewarded with sympathy and affection from you whenever he is seen to be siding against his father. I'm sure I don't need to explain why a Court would frown upon this.
The third is that your only perceivable solution is to hand the parental decision-making about care arrangements over to your 14-year-old son, which sounds like maybe one of the reasons you and the father don't get along is because you're not co-parenting with him, you are co-parenting with your son instead. Would you let your son drop out of school if he didn't like one of his teachers? Are there are other options you should perhaps consider first, like maybe teaching your son that he should respect his father because he's the parental authority? Or perhaps teaching your son about how to better deal with conflict and communicate more effectively with his father? Or maybe even family therapy to help him understand his father's intentions a little better?
Now, I can think of a hundred thousand ways in which a 14-year-old can turn a story of perfectly acceptable discipline into a story in which he is the victim of some horrible assault. The fact that he's willing to tell you the story, but not anyone with real authority to do something about it, makes me wonder if that's what's happening here.
You and the father don't have to like each other, but it benefits your son if you at least present as being on the same team, otherwise you end up with a child well articulated in playing you and dad off each other to get what he wants, even if what he wants isn't necessarily in his own best interests.
My suggestion? Don't take your son to the judge. Take him to a counsellor first.