Is it normal or healthy that i cannot stand my father's critique?

Firstly I would like to say that i understand many others have it far worse than I, this is not to put anyone down in anyway or make me somehow feel "superior"— I am simply asking for help. With that said, please be respectful of this as I know the whole "daddy issues" blah blah teasing all too well. My father and I are very distant from each other. I live in a nuclear family, both parents are hardworking and loving. I understand my luck with having two parents, please do not believe I don't. However my father is not one to show that he is proud, loving, nor any kind of affection towards me. As for my sister, he does. I am jealous, yes I believe this, but I do not act out. I try my hardest to do my best for him, all the time. I genuinely fear my father (this is NOT abuse, please take note of that: my father has never nor will he hurt me physically). My father and I can pass each other in the house and not say hello; I stay stoic whenever he says anything(I.e: critique), but later I break down and cry. I'm afraid this is not healthy. I want to do something about it, but it's so difficult to handle. We are distant and I could respect that if I didn't fear his very gaze. I believe this is where many of my self esteem problems stem from, as well as my anxiety. My father is a great man, but I cannot stand to be near him anymore. I fear when people yell, critique me, etc. I fear that this is unhealthy and not normal. Is this relationship (or lack there of) with my father normal? Please give advice on how to handle this as well, it will be greatly appreciated.