'Baywatch' Star David Charvet Accused of Hit-and-Run After Striking And Killing Dog

1:47 PM PT -- Law enforcement sources tell TMZ that David Charvet has been cleared of criminal wrongdoing.

9:07 AM PT -- A law enforcement source tells TMZ ... they do not consider the incident a hit-and-run since David called authorities after it happened -- even if he was not directly on scene. A deputy is with Vera and her family right now, taking a "traffic collision" report.

Info being gathered includes whether the dog died -- and whether it was leashed at the time. Vera told us yes, the dog died, and yes, her three dogs were on a leash.

However, David claims the dog was NOT on a leash at the time of the collision -- and he tried to swerve to avoid hitting the dog.

8:07 AM PT -- the Lost Hills sheriff station tells TMZ that they've been in contact with Vera ... and they're sending deputies to her home to take a report.

"Baywatch" OG star David Charvet struck and killed a dog Thursday morning ... TMZ has learned.

Vera Errico tells us, just before 6 AM, she was walking her 3 dogs -- all on leashes -- in a gated Malibu community, when Charvet came along in his pickup truck.

Vera says Charvet didn't stop after hitting the dog ... rather, she says he drove outside the gated community and she believes he then called the police -- something a driver is required to do if involved in an accident that results in injury or property damage.

She says his truck struck Sunday, her 11-year-old white English Labrador. She and her husband rushed Sunday to the vet, where the animal was euthanized.

Vera and her husband are on the way to the L.A. County Sheriff's Office to file a police report -- for hit-and-run.