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Scary moment for the Denver Broncos moments ago ... when a team bus clipped a member of its police escort ... but miraculously, no one was harmed ... TMZ Sports has learned.

We're told a caravan of buses were heading southbound on the 101 Freeway at Route 237 (about 10 mins from the stadium) with an escort of several California Highway Patrol motorcycle officers.

A witness at the scene says a car that was in front of the caravan stopped as the buses approached (the witness thinks the driver mistakenly thought he was being pulled over due the cop presence).

The witness says the 1st bus slammed on the brakes -- but the 2nd bus had to swerve to avoid hitting bus #1 ... and clipped a CHP motorcycle cop.

Somehow, the cop emerged from the wreck unscathed -- and several people who looked like athletic trainers ran to the guy to help out.

Law enforcement confirms ... the officer was taken to a nearby hospital to be checked out -- but doesn't appear to have any major injuries.

We're told there didn't appear to be any injuries to any of the players -- and the cop appears to be okay, considering the circumstances.