Having something like that yeah, tense and tingling in the legs which could be the nerves, also had a twitching leg a lot earlier. I put a hot water bottle on them but they feel pretty funny. How long have you been having this?
You should go see a doctor because it could be a pinched nerve or something. I've had RLS for years and when it started I would just stretch or use a stationary bike and then I'd be able to sleep. It isn't really a pain for me but like.... well like I just can't stand to stay still. I have to move my legs and flex and stretch. I would actually get into a stretch that made my legs feel better and try to fall asleep that way. I got a stationary bike and would use that for a while before I went to bed, just not fast because I needed to be able to sleep. I finally went to the doctor and they put me on requip which helps.
Anyway, it really is a restlessness...... and creepy crawly feeling that gets unbearable so you just can't sit still. Look up sciatica and see if that sounds like the pain you have. It would be a blessing to have something that can be fixed instead of being medicated for life. I wish you luck!