TMZ Sports has obtained footage from the night of Doug Martin‘s death … showing the former NFL star acting erratically as he broke into a home before passing away in police custody.

The Oakland PD just released the 911 call, body cam, and surveillance video of the October 18 incident.

Officers were responding to a reported home break-in during the early morning hours in a house near the Oakland Zoo.

His death is still under investigation by the coroner’s office.

Martin’s former agency — Athletes First — shared a statement on behalf of the family the Monday after he passed … which explained how Martin’s parents had contacted local authorities earlier in the night for “medical assistance.”

“Feeling overwhelmed and disoriented, Doug fled his home during the night and entered a neighbor’s residence two doors down, where he was taken into custody.”