The Collaborative International Dictionary of English v.0.48:

Pilfer \Pil"fer\, v. i. [imp. & p. p. Pilfered; p. pr. & vb.
   n. Pilfering.] [OF. pelfrer. See Pelf.]
   To steal in small quantities, or articles of small value; to
   practice petty theft.
   [1913 Webster]

The Collaborative International Dictionary of English v.0.48:

Pilfer \Pil"fer\, v. t.
   To take by petty theft; to filch; to steal little by little.
   [1913 Webster]

         And not a year but pilfers as he goes
         Some youthful grace that age would gladly keep.
                                                  --Cowper.
   [1913 Webster]

WordNet (r) 3.0 (2006):

pilfer
    v 1: make off with belongings of others [syn: pilfer,
         cabbage, purloin, pinch, abstract, snarf,
         swipe, hook, sneak, filch, nobble, lift]