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"Matlock" star Leah Lewis is speaking out after her costar David Del Rio got kicked off the CBS show ... for allegedly sexually assaulting her.

The actress said, "Mom is here, we're moving forward in love and strength. I'm in good hands. Thank you to everybody for any kind of support and care. Truly, we're moving forward in strength. Key word, strength. Please, let that be the take away." Instagram / @leahmlewis

A source with direct knowledge told TMZ ... David was escorted off the Paramount lot last week as soon as the allegations were reported. Getty

We hear the incident allegedly occurred on Paramount property. According to Deadline , it allegedly happened September 26.

David's character, Billy Martinez -- one of the main ensemble of the reboot starring

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