I think there are a lot of strong reactions on this thread that come from our own experiences. Personally, I think asking him to move out would be an extreme overreaction that would be detrimental to family healing, based on what the OP has told us. Certainly, this wasn’t optimal parenting. Self-reflection is needed. Forgiveness is needed. Stress reduction is needed. Family counseling and/or parenting classes might be in order, depending on the whole family dynamic. Parenting a teenager (particularly a more challenging one) is a whole new ballgame and many people would benefit from support and constructive ideas. Anger management might be called for if this is an ongoing problem.
The idea that this requires law enforcement or CPS involvement is a little out there. Based on what was described by the OP, this is not abusive as defined by state law in my state, where I worked as a social worker for CPS for many years. After an extremely stressful investigation (that might be more than anybody was asking for), the most that would happen is a voluntary referral to community support services, such as parenting classes.