Royal aides are angry Harry's been lashing out, most recently at his dad ... this according to Daily Mail sources. The report came out after Harry went on Dax Shepard's podcast and said his dad caused him great pain and suffering. He does go on to say Prince Charles endured the same trauma because it's "genetic" in the Royal Family, but vowed he would break that cycle with his own kids.

Harry is speaking out on mental health issues -- he's got a new doc about it with Oprah -- but apparently, his message has fallen on deaf ears over at the Palace.

DM sources said, "The Duke of Sussex has now spent a significant amount of time emphasizing that he's no different to anyone else and attacking the institution which he says caused him so much pain.  There is a growing feeling that if you dislike the institution that much, you shouldn't have the titles."

As for the "genetic" abuse, the Royal aide lashed out, saying, “People are appalled that he could do this to the Queen when the Duke of Edinburgh is barely in his grave."

As you know, Harry and Meghan Markle also accused the family of racism, with someone (or multiple people) worrying Archie's skin might be "too dark." They didn't name names, but by eliminating the Queen, lots of folks believe they were accusing Philip, William and/or Charles of making the comment.