Child-endangerment charges were filed Thursday night against a Bronx mom who left her two barefoot children wandering the streets alone, cops said.

The toddlers, a 3-year-old boy and a 2-year-old girl, were spotted by neighbors dashing down a sidewalk along Longfellow Avenue a little after noon.

At one point, one child ran into the street before being corralled by Samaritans, who called ­police.

The kids were taken in good condition to Lincoln Hospital, where mom Laschanda Devaughn later showed up, claiming she had left her children with a neighbor.

But cops didn’t buy her story and busted her.