Police alleged the 29-year-old Townsville man was armed with a weapon when he allegedly assaulted the woman before taking the toddler from the house around 1.30pm Tuesday.
Police swarmed the area, intercepting the man's vehicle to rescue the child unharmed.
A knife and a baseball bat were found in the car, and officers later seized a firearm from the man's home.
The woman was transported to Townsville University Hospital for assessment.
The man was charged with a raft of domestic violence offences, including strangulation, deprivation of liberty, assault occasioning bodily harm, threatening violence and contravening a domestic violence order.
The investigation is ongoing, and police have not ruled out further charges.
The man was denied bail and is due to face Townsville Magistrates Court on Thursday.
Domestic Family Violence and Vulnerable Persons Unit Officer in Charge Acting Sergeant Kallan Drury said the arrest and safe return of the toddler was a great outcome.
"This was an outstanding combined response by general duties officers, detectives and the tactical crime unit to ensure the man was taken into custody as quickly and safely as possible," the officer said.
"Domestic violence is a scourge on society and often has lifelong impacts on the victims and children.
"Everyone has the right to live without fear of domestic and family violence."
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