An heir to a bra-and-girdle fortune says his older brother has launched a panty raid on their father’s $13 million estate.

Bruce Leventhal, 67, claims in his Manhattan Surrogate’s Court suit that sibling Stuart Leventhal, 70, embezzled more than $2 million of their late father Gabriel’s money.

In the battle, which has been raging for seven years, Bruce says his brother used the looted inheritance to fund a “lavish lifestyle,” including a $2.5 million second home in France.

“We’re talking about a liar and a thief,” seethed Bruce, who lives on East 38th Street, of his Upper East Side sibling.

The warring brothers’ father was Gabriel Leventhal, a garment-industry mogul whose company sold women’s lingerie. Gabriel died in 1998, and their mother, Muriel, passed away in 2004.

Each brother was left the bulk of the family estate to split.

Stuart’s lawyer, Daniel Marotta, denied the claims and said some of the money Bruce is questioning was from checks signed by their mother. “I’m sure all the money will be accounted for,” he added.