Stephen Collins -- a self-proclaimed child molester -- will NOT be prosecuted for either molesting or exposing himself to the 3 victims ... law enforcement sources tell TMZ.
TMZ posted audio of Collins confessing to wife Faye Grant that he molested and/or exposed himself to 3 girls ... ages 11 - 13. And, as we reported ... the NYPD and the L.A. County Sheriff's Dept. have open investigations. The LAPD is also looking into the case they closed 2 years ago.