Lawrence Taylor -- Arrested For DUI ... Allegedly Hits Police Car

Lawrence Taylor was arrested in Florida Friday afternoon ... after cops say he drunkenly crashed into a police cruiser and a mobile home.

The 57 year old NFL legend was driving his Bentley in Palm Beach Gardens, Florida when he lost control and hit the two cars ... this according to the WPTV.

Taylor was taken into custody and booked into the Palm Beach County Jail on suspicion of DUI.