They've performed in front of kings and queens and presidents ... but Thursday, the Harlem Globetrotters set up shop inside a famous Venice Beach skate park ... and TMZ Sports has the footage. 

The squad actually played an exhibition game against their bitter rivals the Washington Generals INSIDE THE FAMOUS VENICE BOWL.

It was actually pretty cool ... they had skaters dropping into the bowl doing tricks while the Globetrotters were playing. 

It was all for the Globetrotter's 2015 World Tour. Oh, and here's a shocker ... the Generals lost.