NBA star Rajon Rondo is being sued by a woman who claims she was cussed out and beat up by Rondo and his girlfriend in a heated parking lot dispute -- and the accuser says she has video of the entire incident.

TMZ Sports has obtained the lawsuit filed by Toktam Jorshari, who claims she lives in the same L.A. apartment building as Rondo's girlfriend.

In her suit, Jorshari claims on July 28, 2020 ... Rondo parked his $300,000 Rolls Royce SUV in a handicapped parking space at the complex, despite the fact the car did not have a handicapped placard.

Jorshari says she had parked in the adjacent parking space to unload a newly purchased table -- inadvertently blocking access to the driver's side door of Rondo's vehicle.

When Rondo saw his car was blocked, he allegedly flew off the handle, according to the lawsuit.