Tracy Morgan -- Sues Walmart Over Crash ... You Overwork Your Drivers

Tracy Morgan was severely injured because Walmart allowed one of its drivers to become so exhausted behind the wheel an accident was destined to happen ... so claims Morgan in a new lawsuit.

Morgan filed suit in New Jersey alleging the company should never have allowed truck driver Kevin Roper to drive for nearly 10 hours straight after being awake for more than 24 hours.

The suit -- reported in the NY Post -- claims Tracy sustained, "severe painful bodily injuries, including but not limited to multiple fractures which required multiple surgeries, extensive medical treatment and will require significant physical rehabilitation.”

According to the lawsuit ... Roper had driven 700 miles from his home to the Walmart distribution center before beginning his fatal drive. One person died when Roper was tooling along in his tractor-trailer at 65 in a 45 MPH zone and slammed into the SUV.

Roper pled not guilty to charges of death by auto. Morgan was released from the hospital last month, but he's still at a physical rehabilitation center.

Tracy -- and 3 other plaintiffs -- are seeking unspecified damages.