3/10/2012 5:30 AM PST

Michael Madsen -- Arrested in Malibu for Child Endangerment

"Kill Bill" star Michael Madsen was arrested in L.A. today on suspicion of felony child endangerment ... TMZ has learned.

Law enforcement tells us ... Madsen was arrested in Malibu at 3:55 PM PT ... and he was taken to a nearby Sheriff's Dept. Madsen was released early Saturday morning and was in decent spirits on his way out, calling the whole incident a "big misunderstanding" (see video below).

We're told police responded to a call about a family dispute at Madsen's Malibu home. 

According to law enforcement -- Madsen had gotten into a physical fight with his juvenile son -- and when cops arrived, they observed several signs of injury on his son. We're told Madsen also appeared to be under the influence of alcohol at the time of his arrest.

According to our sources, his son did not require medical attention.

We're told Madsen was booked on a charge of child endangerment with cruelty to a child -- a felony.

Madsen's attorney, Perry Wander, tells us "[Michael] found his son smoking pot and they got in an argument when he tried to take it away. It's a family matter and Michael asks that his families privacy be respected."