TMZ has obtained an audio recording of Stephen Collins -- the actor best known for his role as pastor Eric Camden on "7th Heaven" --confessing to molesting three underage girls.

Collins' confession was secretly recorded by his estranged wife, Faye Grant, TMZ reports.

Grant -- who is currently in the midst of a nasty divorce with Collins -- was advised by her lawyer to secretly record Collins' confession at a therapy session that the now estranged couple once attended together, claims TMZ.

Though Collins was unaware that he was being recorded at the time of his confession, California law allows an individual to secretly record another person as evidence against that person who committed a crime, TMZ reports.

In the disturbing audio recording, we hear Collins confess to molesting an 11-year-old New York relative of his first wife, Marjorie Weinman. The name of the minor is omitted in the taping. Collins admitted to molesting her "a couple of times" over the course of two years when she turned, "12 and 13 years old."

"There was one moment of touching where her hand, I put her hand on my penis," Collins says in the recording. When asked if it aroused him, he replies, "No, I mean, no. Partial, maybe I think."

The 11-year-old victim mentioned in the recording pressed charges against Collins back in 2012, according to TMZ.

Later in the recording, Collins confesses to molesting an LA girl -- who he later apologized to -- that lived in his neighborhood and another New York girl who was between the age of 12 and 13 at the time.

The New York Daily News reports that the NYPD Special Victims Unit is currently investigating the case, but so far, no charges have been filed against Collins.

Collins was previously the subject of a sexual abuse investigation several years ago, says the New York Daily News. However, no charges were filed against Collins at the time of the investigation because "the statute of limitations on the case ran out."

In addition to starring in "7th Heaven," Collins has also starred in the family TV series, "The Fosters" and "Revolution." Collins is also on the National Board of the Screen Actors Guild, TMZ reports.