OK Babe, so I can’t find any information on Chuck actually fighting Bruce for real outside of this movie clip.  It seems Bruce fought many people that challenged him on set or in the street but no information exists that can point to an actual, real, fight between them.  So, I would say that Chuck kicking Bruce Lee's ass in a fight is a urban legend made up by disaffected Walker Texas Ranger fans who are still sore the show is off the air and feel the need to malign the name and reputation of Bruce Lee (who I might add is the best martial artist in cinema history)

http://www.youtube.com/watch?v=JLO1YIWQuXE

Chuck doing what Chuck does, kicking kangaroo ass.