We have a 15-month-old son who was in our bed until the last couple of weeks. He often woken us up 3-4x/night--who knows why (maybe teething?)--and it seemed like we'd never get enough sleep ever again. Every few months we tried to get him to sleep alone in a port-a-crib in our room or a crib in his room to no avail. The crying-it-out method ended up being hours of weeping, hair-pulling, banging--I feel so guilty still--so I know what you mean.
We started to make daily exercise a priority. He and his dad walk (not in a stroller) around the block about an hour before bedtime, which helps him burn off some energy. It takes a while, letting a toddler lead the way, but it's a fun way to explore and learn new words along the way: dog, car, grass, tree, rock, etc. Now, it's our favorite time of the day. I get a little break, and he gets to bond with Daddy.
We have also allowed our son to have a couple of small stuffed toys in his bed. We leave them at the end away from where he always lays his head (I'm still nervous about SIDS--I know, crazy), but I think it helps him feel less alone.
I hope this helps. Good luck!