verb (used without object), verb (used with object)
to steal, especially in small quantities.

1540–50; v. use of late Middle English pilfre booty < Middle French pelfre. See pelf

pilferer, noun
unpilfered, adjective

thieve, purloin, filch, appropriate.
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Based on the Random House Dictionary, © Random House, Inc. 2014.
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World English Dictionary
pilfer (ˈpɪlfə)
to steal (minor items), esp in small quantities
[C14 pylfre (n) from Old French pelfre booty; see pelf]

Collins English Dictionary - Complete & Unabridged 10th Edition
2009 © William Collins Sons & Co. Ltd. 1979, 1986 © HarperCollins
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Word Origin & History

c.1400 (n.), from O.Fr. pelfre "booty, spoils" (11c.), of unknown origin, possibly related to pelf. The verb is first recorded 1540s.
Online Etymology Dictionary, © 2010 Douglas Harper
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Example sentences
We can call her a pilfering magpie without finding her less watchable.
But by the time he was eighteen he had advanced from pilfering eggs and
  potatoes to stealing horses.
The sensors can also be used to detect package tampering and pilfering.
If rabbits or groundhogs are pilfering from your garden, place a trap at the
  affected area or point of entry into the garden.
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