A former NYPD cop was released from prison yesterday after serving 10 years for a notorious 2001 drunken driving crash that wiped out a Brooklyn family — including a pregnant woman, her unborn child and her 4-year-old son.

Joseph Gray, 51, left Green Haven Correctional Facility yesterday after serving two-thirds of his maximum sentence of 15 years for vehicular manslaughter, according to the Department of Corrections Web site.

Gray was convicted in 2002 of fatally mowing down pregnant Maria Herrera, 23, her son, Andy, and her sister, Delcia Pena, in August 2001 in Sunset Park. Herrera’s unborn child died after being delivered by emergency C-section.

Gray’s blood-alcohol content was .16 percent, twice the legal limit. He had been out boozing in the parking lot of his police precinct and then at a strip club before the horrific wreck.

A Corrections Department spokeswoman said Gray was conditionally discharged, according to the Staten Island Advance.