A pregnant hooker who allegedly stole a NYPD cop’s car after he hired her for a threesome was arraigned at Brooklyn Criminal Court late Thursday night.

Taquanna Lawton, 20, was charged with grand larceny for driving off with the officer’s vehicle early Tuesday morning when the cop stopped at an ATM to get money before the planned three-way, law enforcement sources told The Post.

Lawton’s lawyer said in court that there were “health issues and there are numerous other issues” she was competing with.

The officer, Ali Sheppard, picked up Lawton in Brownsville early Tuesday.

Sheppard left the woman inside his Jeep Wrangler, along with his department-issued Smith & Wesson, while he went to use an ATM, sources said.

Lawton then commandeered Sheppard’s Jeep, and drove away with both the service weapon and another woman in the car.

She was found Tuesday afternoon in Far Rockaway, Queens with the vehicle — but the gun was still missing, sources said.

Lawton was being held Thursday night on $25,000 bond for the grand larceny charge and an additional $5,000 for an earlier unspecified misdemeanor.

Sheppard has been suspended without pay from the NYPD for 30 days.