Dad & I have joint checking/savings account. If I take out 20k and put in CD in mine & husband's joint account, my dad's afraid it counts as taxable gift to husband.

[Critter]

No it is not a gift since you have ownership of both accounts. 

[Hal_Al]

Even if it was considered to be a gift, gifts are not taxable income (it does not get reported on anybody's income tax return).

Worst case, if you removed $20,000: it might be considered that Dad gave you $5000 and give your husband $5000. As long as a gift is under $15,000, to any individual, no gift tax return is required.

Even then,  "Gift Tax" is somewhat of a misnomer.  Even though a gift tax return ( a separate item  from income tax returns)may be required, very few people ever actually pay federal gift tax. The purpose of the gift tax return is usually only to document a reduction in the allowable estate tax exemption.
See <a rel="nofollow" target="_blank" href="https://turbotax.intuit.com/tax-tools/tax-tips/Tax-Planning-and-Checklists/The-Gift-Tax-Made-Simple/...>