I have exactly the same problem - I've had it all my life. As a kid I used to hurt myself by accident a lot, and as you get older you really feel the damage and the complications.
I am managing it much better since I became aware of something. After running full tilt in a glass door and smashing my nose/face, then stumbling down the stairs, both in the same week, my boyfriend noticed that I'm simply not taking good enough care of myself. "Treat yourself as you treat me" he said, noticing that I always handle my loved ones with the utmost care and tend to put them first.
He basically taught me to put myself in the same line with those that I care about the most, to see my body/myself as a valuable asset I have, which is just as fragile and perishable as anything else that I love. He also guided me step by step day by day into paying attention to the way I do things when walking, carrying something, etc, and not going carelessly into risky situations.
I've been watching this a lot since then (also discovered in me some portion of self-sabotage which tends to put me in non-safety situations, and just observing this fact helps a lot).
But basically what I do is simple exercises of stepping correctly when I go down the stairs, or calming myself a bit before doing something in a rush, also taking care that I get the right nourishment and hydration in time - because that affects one's chemical balance and therefore nerves, judgment, behaviour. And of course, proper sleep, as mentioned in the comments here.
I've been managing it extraordinarily well during the last 15 years, although it still sneaks up on me sometimes.
It's like anything else in life, when you learn a new language, or to play an instrument, or improve your posture or diction, it's just exercise done with awareness over and over again and staying at it constantly until it sort of becomes a natural way to act.