A son of the late Robert F. Kennedy who was acquitted of criminal charges in a maternity ward scuffle is suing two nurses who said on TV that he hurt them. Douglas Kennedy is alleging defamation and malicious prosecution by nurses Cari Luciano and Anna Lane. He says their statements to police and on NBC’s ‘‘Today’’ show held him up to ‘‘ridicule and scorn’’ and led to his prosecution. The lawsuit, filed Friday in White Plains, N.Y., stems from Kennedy’s attempt a year ago to take his newborn son from Northern Westchester Hospital in Mount Kisco. He said he wanted the 2-day-old boy, Anthony Boru Kennedy, to get some fresh air. The nurses objected, however, and tried to block his way, then claimed he hurt them. They testified at his trial, which ended with his acquittal in November on charges of child endangerment and physical harassment. The judge said that the baby was not in danger — except from the nurses’ actions — and that Kennedy didn’t demonstrate any intent to hurt them. In addition to the other charges, Kennedy accuses Luciano of assaulting him. His wife, Molly, accuses the nurses and the hospital of inflicting emotional distress. She also blames the hospital for a breach of the privacy of her medical records. Kennedy’s lawsuit does not specify damages.