A pervy Long Island judge is expected to become a registered sex offender after admitting breaking into a neighbor’s home to steal her dirty panties.

Robert Cicale, 50, had several pairs of worn women’s underwear stuffed into his coat when he was busted fleeing a 23-year-old neighbor’s home in March 2018, prosecutors told Suffolk County District Court on Friday.

The judge — who was suspended from the same court in Suffolk County after his arrest — was initially charged with second-degree burglary.

But he admitted to entering the 23-year-old’s home several times to snatch undies from her hamper and pleaded guilty Friday to a reduced charge of attempted burglary, still a felony, with a Nassau County District Court judge hearing the case, according to Newsday.

Cicale, of East Islip, is expected to get five years of probation and be forced to register as a sex offender when he is sentenced on Nov. 15.

Cicale’s attorney, Michael J. Brown, told Newsday that the judge had “accepted responsibility for his actions.”

“He has dealt with his mental illness issues in a proactive manner and is a better person for doing so,” Brown said.

District Attorney Timothy Sini insisted in a statement that the proceedings held him “accountable” and “serves justice.”

“He violated the law, the public’s trust and the victims’ sense of security,” Sini said.

His neighbor was a 23-year-old former intern at the Islip Town attorney’s office, where he used to work, Newsday said. It wasn’t clear whether she had worked directly for him at the time.

With Post Wires