Your boyfriend sucks, seriously. But the good news is - many men out there are not like him at all. I wouldn't recommend that you stay with this guy, since he doesn't seem to realise one fundamental fact - while inexperience can take time to rectify, not even an experienced person is good in bed for all their partners. Sex gets good only after you've been sleeping with someone long enough that both of you have reached a certain comfort level, and understanding of each other's minds and bodies!
As for your practical problem - do you want to get experienced or not? If you do, there are ways and ways - you could try casual, no strings attached sex with someone who's willing to show you the ropes. You could have a series of hookups, where you don't even have to tell the guys that you're inexperienced...you'll just be collecting more experience with each new guy.
Or you could do the sensible thing, dump this twit, and go out and get dating till you find someone who's mature and actually likes you enough that he wants you for who you are, more than what you bring to the bedroom.