My dad emotionally and verbally abuses me. Every time I see him he says something that upsets me. I cry every single day because of him. I looked into it online and all the definitions of emotional abuse fit how my father treats me. I've lived with it my entire life, and I can't stand it anymore. I have a trusted friend who says I could live with them, but I don't know how to get away from my parents. My friends have been telling me that I should call child protection services, but I don't want to go to a foster home. I'm fourteen years old, so I can't get emancipated without just cause in the state of Minnesota, and I can't get legally married. Are there any loopholes or ways I can get out of this abusive family?

If your parents are not physically hurting you, and are feeding and clothing you and providing shelter and medical care and making sure you go to school, then there is nothing you can do. If your friend's parents want to take you in, they have to get permission from your parents (you don't say if it's them who offered or not).
It sounds like you have a boyfriend (from your ID). Parents, millions of parents, worry about their 14 year old getting into romantic relationships, getting hurt and pregnant and incurable STDs and who knows what. If all the abuse revolves pretty much around that, then I'm feeling a bit sorry for all of you. As long as you are not supporting yourself (and that means stuff like cell phones that poor and foster kids don't get the luxury of having paid for by parents) as well as hundreds of dollars a month in food and housing, then they get to tell you what to do. Most of us went through it. Grin and bear it until you can support yourself. Want to get away? Part time jobs after school and weekends. Sock all that money away for when you are emancipated.

Your only option is to talk to CPS or your school guidance counselor. If there is real abuse and not typical teen angst then something will be done. This could be family counseling up to foster placement. This "trusted" friends family could apply to foster you, but if its your boyfriend's family forget it.

You need to go tell an adult figure you
1st- can trust
2nd- Will go and let the police know
And 3rd- Is someone you know.