A man serving a life term for killing an 84-year-old woman in Roslindale in 1981 has been granted parole, records show.

The state Parole Board on Wednesday voted to grant release to Phillip Pennellatore, who was convicted of first-degree murder in 1982 for the slaying of Palmira Piciulo, who was viciously attacked in her home after serving orange juice to Pennellatore’s co-conspirators, a ruling said.

First-degree murder carries a prison sentence of life without the possibility of parole, but Pennellatore became parole eligible following a ruling last year from the state’s highest court that found life sentences without a chance at release were unconstitutional for defendants aged 18 to 20 when they committed their crimes.

Wednesday’s ruling said Piciulo, who lived alone in her third-

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