Annie George, 39, and her husband, who died in a plane crash in 2009, used the Indian immigrant at their mansion in Albany for nearly six years, according to court documents.
The worker from Kerala, who has been identified as 'VM', was paid about 85 cents an hour.
It is estimated that she received around USD 29,000 during the entire time that she worked at the 12-acre estate, while she should have been paid at least USD 206,000.
Acting on a tip received by the National Human Trafficking Resource Centre, federal immigration agents last year rescued the woman from the George estate, which has a helicopter pad, an indoor swimming pool, 15 fireplaces, marble flooring, a four-story solarium, 24-karat gold gilded ceilings and an all-glass elevator.
Under questioning, the helper from Kerala, who entered the US on a non-immigrant visa in 1998 to work for the family of a UN employee, told federal agents that she received no holiday or sick pay while employed by Ms George, nor was she afforded any dental or medical treatment.
She also had to sleep on the floor in a closet in a bedroom shared by the family's three daughters, the complaint alleges, because "Annie George required that VM be near the children at night."
Investigators said that after 'VM' was removed last year from the mansion, Ms George spoke three times with the woman's son in India.
During one telephone call, Ms George suggested that the "son tell his mother to tell authorities that she was a relative of Ms George's family and was only staying at their house house as a guest."
During the conversation, which the son recorded, Ms George said: "If she says anything about working, it would become a big crime. They'll start adding up all the taxes and everything, for all the time."
Ms George appeared before a federal magistrate yesterday.
She was charged with encouraging and inducing an illegal alien to reside in the US. She was released without bond.