The video you would never admit to wanting to see -- but secretly were DYING to watch -- has finally made its way online ... the "Fear Factor" donkey semen stunt!!!!!

For those of you not up on your donkey semen history ... the stunt was originally supposed to air as part of an episode in January ... but NBC execs got cold feet and yanked the controversial episode from their schedule. 

Luckily, TV execs in Denmark had the balls to air the stunt this week.

And yes, watching a woman drink a 24-ounce glass of donkey semen ... while her twin sister chugs donkey urine ... is EXACTLY as disgusting as you would think.