Work bully? Should I tell my boss?

I like my job, I have done a lot to get where I'm at today. One problem though, I have a coworker, who makes fun of me, he makes fun of how I work and always criticizes me how I work and always points out the negative stuff. It makes me feel like crap and just ruins it for me. Today he made a comment that really did offend me. At lunch, everyone was talking about people who are mentally handicapped shouldn't drive. He mentioned my name and said that I am mentally ill and I shouldn't drive. It hurt my feelings as everyone started to laugh at me. I've had mental issues growing up and was Bullied my whole life. It really is bothering me and makes me want to consider quoting cause of this guy. I'm too scared to tell my boss, I feel like it would be childish. Should I? This shouldn't be going on in a professional work place. I'm tired of feeling like **** cause of this guy. He is nothing but a smart ***. What should I do?