Michael Irvin -- I'm Worried About Warren Sapp

NFL Hall of Famer Michael Irvin says he's very concerned about his friend Warren Sapp ... saying he's reached out to Sapp several times ... but Sapp doesn't seem to understand the gravity of his situation.

Irvin appeared on The Dan LeBatard Show with Stugotz on 104.3 FM in Miami yesterday moments after we broke the story that Sapp had been charged with domestic violence for allegedly attacking his longtime GF.

"I worry about him man, there's no doubt," Irvin said ... adding that he texts Sapp all the time.

But the problem, Irvin says ... is that Sapp seems to be convinced that everything's fine -- even though he's clearly in a very bad place.

Irvin even brings up Sapp's prostitution arrest during Super Bowl weekend -- and says he tried to talk to the guy about it ... but couldn't seem to get through to him.

On a completely unrelated note ... Irvin also talks about his Hall of Fame jacket -- and how he accidentally got some "Lewinsky" on it while breaking it in with his wife on the night he was inducted.

Good times.