The century-old Cubist oil was smuggled into the United States last December from Belgium with a shipping label that described the contents as a handicraft holiday present worth 30 euros (USD 37).
The painting, known as "La Coiffeuse" or "The Hairdresser," is estimated to be worth millions of dollars, US prosecutors said.
It was intercepted by US customs and subsequently seized by Homeland Security Investigations.
"A lost treasure has been found," said Loretta Lynch, attorney for the eastern district of New York.
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Forfeiture of the painting will extract it from the grasp of the black market in stolen art so that it can be returned to its rightful owner," added Lynch, who is also the US Attorney General nominee.
Painted in 1911, the oil-on-canvas measures 33 by 46 centimeters (13 by 18 inches) and is part of the Musee National d'Art Moderne collection in Paris.
It was last exhibited publicly in Munich, Germany, where it was on loan to the Kunsthalle der Hypo-Kulturstiftung.