For almost a decade, they lived like a queen and a prince — tooling around in yachts, private planes and a $127,000 Mercedes.

But yesterday, mother-and-son embezzlers Judy and Joseph Del Galdo were sentenced to at least four years in prison for swiping $16 million from the bookkeeper mom’s SoHo employers.

A parole board could keep the grifters in prison for as long as 12 years under the sentence handed down by Manhattan Supreme Court Justice Charles Solomon.

The pair pleaded guilty to grand larceny in November after Manhattan prosecutors caught them conspiring to plunder the two companies where the mom, who lived in Sayreville, NJ, had worked for 22 years — Hi-Fashion Fabrics, Inc., and Timeless Treasures Fabrics.

The mom, 66, would siphon funds into a dummy company, Tea-Rific Beverage Inc., for which the son, 46, who lived in Buford, Ga., was the sole signatory.