Halle Berry and Gabriel Aubry -- Counseling Recommended for Nahla

Gabriel Aubry's custody battle royale with Halle Berry has taken its toll … the L.A. County Department of Children and Family Services is recommending their 3-year-old daughter Nahla go into counseling … TMZ has learned.

There have been no allegations of Halle mistreating Nahla, but the nanny claims Gabriel screams at the child and has even violently yanked Nahla out of her arms.

Both Halle and Gabriel are scheduled to be in court today. Sources tell us Halle wants the judge to prohibit Gabriel from having any contact with Nahla until a criminal child endangerment investigation targeting him is resolved. The nanny accused Gabriel of pushing her while she was holding Nahla ... which is what triggered the investigation.

And speaking of the nanny … we've learned Gabriel is also asking for a restraining order ... asking the judge in effect to fire the nanny because Gabriel believes she is making up stories to curry favor with Halle.

TMZ also previously reported that Gabriel has agreed to enroll in anger management classes to control his temper.