The Angels are back in action!

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Minka Kelly, Annie Ilonzeh and Rachel Taylor were all spotted on set of the TV reboot of "Charlie's Angels" yesterday in Miami -- where they brandished guns and dove head-first into some murky harbor water.

The cast is currently filming the show's pilot -- and Ramon Rodriguez, who will play the new Bosley, recently told E! they've all been doing fight and gun training.

Check out all the action-packed, on set photos!

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