Is it legal to charge caregiver fees for taking care of a parent 24/7 in my own home, money from her social security bank account?

Yes. Get a caregiver agreement and charge her for her share of expenses and for your caregiving. Keep good records.

I agree with Glad. But...I see no problem using her money for her needs. I don't see a problem with splitting household costs by 3. You may want to Call Medicaid and ask if this would be OK. I kept receipts of everything I used Moms money for, Bills for the house and taxes showed up on her statements.

It could cause problems with Medicaid unless you have a caregiver agreement with her. Legal? Different states have different laws. You need to check with an elder law attorney. Care that you provide must be medically necessary as determined by the doctor.