IF baby is safe, changed, fed, not too cold, not too hot, not in any danger (if you are not sure and think baby may be in pain, call your Dr. or go to ER) - sometimes you just have to find the strength to let them cry it out.
Make sure the pre-bed time routine is regular and consistent. Play with family, food, bath, cuddle, then bed - at the same time, every night (as much as humanly possible).
It will be hard - but don't pick baby up - just wait 10 mins, go in and reassure baby for a min. Rub tummy, check to make sure not wet, hot, etc. Keep lights off if you can. Then wait 10 more mins. Repeat.
Do this for several nights... until baby falls asleep. Then after a 4-5 nights like this, then increase your wait time to 15 mins between visits. Soon baby will learn that it is okay and bed time is not to be feared. He/She will fall asleep quicker with less fuss. Within a month at the most this will be behind you.
The key is that consistency. The more irregularity you inject - bed time at 7 one night, 10:30 another, 8 an other... lights on, lights off, with out bath, with, etc the more confused baby will be.