Terence Crawford was forced out of a car at gunpoint by a police officer with the tense exchange caught on video … and, it’s leading to an internal investigation.

Video is circulating online showing the boxer slowly unbuckling his seatbelt, opening his door and stepping out of the car … while an officer at his window holds a flashlight in one hand and a gun in the other.

The officer repeatedly tells Crawford to step out … and, he replies at one point, “I ain’t reaching for no gun” — with his hands up the whole time.

The Omaha Police Department released a statement Sunday morning … explaining the city’s mayor and chief of police are ordering a review of the traffic stop by the internal affairs department.

The statement reads, “Shortly before 1:30 a.m., officers working in the downtown area observed a vehicle driving recklessly near North 12th and Capitol Avenue. A traffic stop was conducted at Cass Street.”

It continues, “While speaking with the driver, an officer observed a firearm on the driver’s side floorboard. For safety, all four occupants were ordered out of the vehicle at gunpoint.”

Ultimately, cops learned everyone in the vehicle was licensed to carry … and a police supervisor and lieutenant responded to the scene when requested by Crawford.

Terence is an undefeated boxing champ — he holds a 42-0 across his illustrious career — who is currently the undisputed welterweight and super middleweight champion. He defeated Canelo Alvarez in Las Vegas earlier this month.