I would look at the age and stage information from the eyfs and see exactly which points you are flagging up concerns about. Everyone who works with under 5s will be using eyfs from September, so it is good practice to base your thoughts around this. Be careful though not to treat it as gospel... we all know different children develop at different rates and she might just be a little slower than others. The eyfs will also help you to highlight the positives for parents ... areas where she is forging ahead in her learning and development.
Then I would speak to the child's parents and encourage them to have a chat with the health visitor.
Meanwhile you can use lots of techniques to encourage her to take a little risk - maybe play balancing on a skipping rope or jumping in and out of hoops. Draw a hopscotch on the paving stones ... anything that will help her to look before she leaps but she's not going to hurt herself because there is no actual danger.
Have a look at the signs and symptoms here but be very careful about labelling a child, especially to parents. I am giving you them as an aid to suggesting where the problem might lie, not as a diagnosis, as that is not our place to give -
http://www.durhamdyspraxia.org.uk/signs.html.
I hope you find the support she obviously needs.