Ive had a bad experience with counselors in the past, but I need help. 

This is whats been happening:
 I cant sleep bc I'm always thinking, little things trigger panic attacks because I feel so out of control, I constantly worry my ex is going to find me and hurt/kill me for placing charges against him (I dream about it every time I do sleep too). I can't handle being left alone. My thoughts consume me 24/7. 

I dont need to see a counselor to 'talk about my feelings'. I need someone who can teach me how to quiet my mind, stop panicking at small noises and stop having panic attacks. Id like someone who can do therapy and prescribe medicine if needed. What is this called? A psychotherapist or something else?