To JamieCatherine: Did you tell him why you prefer to be more covered up? Guys don't get the kind of... vaguely threatening sexual objectification attention that women get (at least not the same way). Maybe try explaining to him that you feel unsafe/insecure/uncomfortable with men leering, and soliciting you for prostitution, and it is much more comfortable for you to not be leered at, cat-called, and otherwise objectified. He probably doesn't realize that to us, it can sometimes feel threatening when men act this way, and thus why it would feel safer to be dressed more modestly. (plus you get more respect.)
Also, have you asked him why he doesn't like it when you dress modestly? Is he wanting to see more of your body because he finds you attractive and likes to see you? Is he wanting other men to see how awesome he is for having an attractive woman like you? Is he worried people will judge him when you're together, thinking he's some oppressive man who makes his woman cover up?
I think by explaining what you gain AND talking to him about his real concerns about it might help you guys work it out. You shouldn't dress in a way that makes you uncomfortable just because he wants you to. That said, it would probably be most harmonious to discuss and work out both of your issues with it, and maybe find some compromises, or maybe just get to a point that makes you both comfy.
I know when I started dressing modestly, and covering my hair, my DP was REALLY worried that people would think he was some oppressive bastard who made me dress that way. slowly he found that people didn't look at him weird, and he got used to it and it no longer bothered him. If your hubby's concern is wanting to see you in skimpier clothing more, maybe making a habit of wearing sexier things at home/with him in private might help reassure him that just because you want to cover up more in public, he still gets to see a lot of you dressed sexy. etc.
I think that a moderately full (full enough that she can run, not so full it's inclined to fly up at the least breeze.) skirt/dress that is to the knees/above the knees combined with leggings (which are completely not see through, unlike tights, and have sort of a "pant"-ness to them, rather than an "underthing"-ness) would be much better modesty wise than say a skort, depending on the activity, and if your daughter plays hard. With a skort, say, if they're playing softball and she slides for a base, or if she falls or dives for a ball playing some activity, there's a definitely possibility of seeing up the skort if they haven't changed much from my day. Whereas with leggings (or even tight shorts) under the skirt, yes you'll see up the skirt if it flys up or she falls, but there's nothing to see.
Depending on the activity longer skirts might be perilous or immodest. I've worn ankle length skirts irish dancing a time or two and it turns out not only are knee length skirts cuter for it (the dancing is all foot-work which you can't see in an ankle length skirt), they are more modest for that activity. With the long skirts, I'd often step in/on them and pull them down dangerously low. Knee length skirts, my feet don't get tangled in them, and I don't pull them down with my feet. (running could cause the same problem.)