No, you are far from a prude. Nobody has the right to touch you anywhere where you are not comfortable being touched. He really has to stop this behavior.

It's just like a husband who makes his wife have sex with him forcibly, it is considered rape and the husband will go to jail for it.

Your husband needs professional help to figure out why he does this to you, and you should not have to change your routine in order to stop him from doing this to you.