Touching tribute from Darren Waller on Thursday night ... the superstar tight end honored his former teammate, Lorenzo Taliaferro, with a TD celebration after the 28-year-old's shocking death.
Waller -- who played with Taliaferro in Baltimore to begin his career -- scored on a beautiful 35-yard, go route early in the 2nd quarter of the Raiders' loss to the Chargers ... and he immediately got up and looked for cameras in the end zone.
DW then threw up a 3 and a 4 -- Taliaferro's old jersey number -- and then he gave a bow.