"Family Matters" star Darius McCrary is terrorizing his wife and infant -- allegedly holding the little girl over boiling water once ... this according to the wife who just got a restraining order against him.
Tammy Brawner says McCrary went nuts on Feb. 10 ... hurling picture frames and other objects around the house, and hitting her in the head with his forearm. She says the objects he threw came dangerously close to their 16-month-old daughter, Zoey.
Where Zoey's concerned ... Tammy says McCrary has abused on several instances, including one particularly horrifying time when he held the baby over a boiling pot of water and said he wished he never had her.