EXCLUSIVE

Vanilla Ice has been arrested and charged with burglary and grand theft for allegedly stealing furniture, a pool heater, bicycles and other stuff from a vacant home in Florida.

Lantana PD tells TMZ ... it's all connected to Ice's TV show, "The Vanilla Ice Project." Ice was renovating a nearby home and allegedly thought it was a good idea to go to the abandoned place and take the items in question.

Apparently, even though the house was vacant, the rightful owner had a problem with someone jacking their belongings ... thus the burglary charge.

The cops got a search warrant and recovered some of the items.