Scary moment for Delanie Walker ... the NFL star was involved in a car crash in L.A. last month that wrecked his G-Wagon -- but TMZ Sports has learned the tight end made it out uninjured.
We're told Walker -- a Pomona, Calif. native -- was driving through Hollywood on Sunset Blvd. on March 4 in his pricey Mercedes-Benz when someone ran into him.
Law enforcement sources tell us a driver made an illegal turn in front of the Tennessee Titans star ... slamming into Walker and doing serious damage to his expensive whip.