The narrator tells us this about the relationship:

Had Elizabeth's opinion been all drawn from her own family, she could not have formed a very pleasing picture of conjugal felicity or domestic comfort. Her father, captivated by youth and beauty, and that appearance of good-humour which youth and beauty generally give, had married a woman whose weak understanding and illiberal mind had very early in their marriage put an end to all real affection for her. Respect, esteem, and confidence had vanished for ever; and all his views of domestic happiness were overthrown. ... To his wife he was very little otherwise indebted, than as her ignorance and folly had contributed to his amusement....

I think this makes contradicts the idea that Mr. Bennet's teasing of his wife is harmless and innocent, something that the two of them share and enjoy.

And Lizzy's long-standing opinion is:

Elizabeth, however, had never been blind to the impropriety of her father's behaviour as a husband. She had always seen it with pain; but respecting his abilities, and grateful for his affectionate treatment of herself, she endeavoured to forget what she could not overlook, and to banish from her thoughts that continual breach of conjugal obligation and decorum which, in exposing his wife to the contempt of her own children, was so highly reprehensible. ...