Stephen Baldwin -- Arrested in New York

Stephen Baldwin was arrested in New York City yesterday ... TMZ has learned.

Law enforcement sources tell us ... Baldwin was initially pulled over at 5:14 PM after cops say he made an illegal U-turn in Harlem.

During the stop, we're told cops noticed Baldwin was driving with a suspended license ... so they arrested the actor and hauled him to a nearby jail where he was booked for aggravated unlicensed operator [of a motor vehicle].

Baldwin is scheduled to appear in court in October to be arraigned.