Rosie O'Donnell -- Daughter Found Safe

Rosie O'Donnell's 17-year old daughter and dog have been found safe and sound ... in New Jersey ... TMZ has learned.

Police found Chelsea and Bear in the town of Barnegat Light on the Jersey shore ... roughly 130 miles south of Rosie's home in Rockland County, NY. Law enforcement sources tell us Chelsea was located by pinging a cell phone she'd used.

As we reported ... Rosie made a plea early Tuesday for help to find Chelsea because she needed to take medication for mental illness.