Can I jump in here? I've told my children that all I ask is respect. I expect nothing more, and I'll ACCEPT nothing less. They have remembered this, and I've never been dis-respected by them. My son is 43 and my daughter is 37. They both speak their minds too, to a certain extent -- to the point where it will NOT hurt anyone's feelings.
I think I'd talk to my daughter if she was saying things that hurt you or your husband. Being disrespectful is just not acceptable. Just because you're her parents doesn't give her the right to walk all over you. You deserve respect as much as anyone else! And I wouldn't be afraid to tell her!!!
Just my opinion. But I think she needs a talking to.

God bless and please take care. Hugs, Lee