MICHAEL JACKSON NEW CHILD MOLESTATION CLAIM

Michael Jackson has been posthumously accused of molesting a now-famous choreographer who spent lots of time with the singer at the Neverland Ranch ... TMZ has learned.

TMZ has obtained legal docs ... filed by Wade Robson ... in which he's asking for money from the Michael Jackson Estate for childhood sexual abuse.

Robson -- now 30 years old -- has worked with top names in pop music including Britney Spears, *NSYNC, Usher and P!nk. He has also appeared on "So You Think You Can Dance."

Wade met Michael when he was 5 years old and they developed a friendship that lasted for years.  By the time Wade was 7, he went for sleepovers at Neverland and MJ's homes in L.A. and Vegas.  The sleepovers continued until Wade was 14.
Wade even performed to a Michael Jackson song on "Star Search" when he was 8 years old.