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Ray J is firing back at Kim Kardashian and Kris Jenner with a lawsuit of his own after they sued him for defamation ... he says they were all in on the infamous sex tape, and it wasn't leaked against Kim's will.

In new legal docs, obtained by TMZ, Ray J reveals what he says actually went down with the sex tape. He claims he and Kim consensually shot a sex tape in 2003, and then in 2006 they discussed releasing it, and he says Kim insisted Kris be in charge of the release and commercial exploitation of the film. Vivid

In the lawsuit, filed by attorney Howard King , Ray J claims Kim and Kris have "spent two decades peddling the false story that the sex tape ... was leaked against her will."

Ray says Kim and Kris are "furious" he "no longer wants to p

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