If you really wanted to stay with that company because everything else is great, your only chance is to solve this with the boss of the boss.
5 figure bonus lost due to this is abuse.
I disagree that going above your boss first would lead to getting fired though (again with the exception of at will employment).
HR's exact goals vary between companies, but unless the company culture is toxic all the way to the top, part of their job is usually to reduce staff turnover (which is very expensive for the company), and in pretty much any company their job is to protect the company against lawsuits. Abusive managers are not well liked by HR.