"Underworld" star Shane Brolly says he suffered YEARS of torment from his psychopathic brother ... who most recently tried to run him over in a truck ... this according to court docs obtained by TMZ.
Brolly -- who played the treacherous Kraven in three "Underworld" films -- filed a request for a temporary restraining order in Los Angeles Superior Court this month, against his older brother Clark Brolly.
The accusations are pretty severe ... Brolly says he suffered a "lifetime of misery and abuse from this hate-filled psychopath."
Brolly continues... claiming his bro calls him with death threats, sends profanity-laced emails and video messages and most recently tried to run him over in a truck -- in which he had "to run for his life."
Brolly's request was temporarily granted by a judge. He is due back in court in at the end of the month.
Calls to Clark were not immediately returned.