T.I ripped into the security guard -- who is also an ATL police officer working a 2nd job -- and the restaurant in a video he posted Monday night ... alleging the guard went into the women's restroom to drag a customer out through the restaurant, and eventually out the front door. Tip called out the guard, saying, "I need to see you! Come do me like that!!"

A video shot by the woman's friend shows her being held down by the guard. He appeared to be holding her arm behind her back, while her friends yelled at him to let her go.

One of the friends said she was calling police, and the security guard said he was "detaining" the woman until police arrived.

T.I. posted pics showing the woman's alleged injuries, including a black eye and several bruises on her leg.

According to the police report, obtained by TMZ, all 3 women -- actresses Brittany Lucio, Erica Walker and Asia'h Epperson -- were charged with criminal trespass. Brittany was also charged with felony obstruction.

Remember, this incident comes after T.I. organized a boycott against another Atlanta area Houston's last year when a staffer threw out a group of black female customers. T.I. had worked closely with Houston's ownership to improve relations, before lifting the ban.

Monday night he said, "We done tried to do it the Martin Luther way. It's time for Malcolm X!"

7:15 AM PT -- We got T.I. Tuesday morning, as he was flying out of L.A., and he says his mission is clear ... shutting down the WHOLE Houston's chain.