Kendra Wilkinson tells TMZ ... she was DISGUSTED when she saw Kelsey Grammer bring his infant child to the Playboy mansion last month ... and stormed out of the party in protest.
Kendra -- and her hot model friend Jessica Hall -- were out at Lure nightclub in Hollywood last night and told us they personally witnessed Kelsey raging at Hef's pad with his 3-month old daughter Faith.
In fact, Kendra says she was so pissed about the situation, she confronted Kelsey during the event.
"Oh, he KNOWS how I feel, trust me," Kendra said ... "I gave him that eye and I left because of that."
TMZ broke the story, Kelsey and the baby were at the party well past midnight (check out the photo below).
Kelsey claims he only took the kid out because he and his wife couldn't find a babysitter ... and explained, "The baby slept as her ears were covered the entire time and we left shortly after midnight."