Place pig's feet in a large container with cold water to cover. Soak 3 hours; scrub with a stiff brush. Rinse thoroughly.
Place pig's feet and 1 teaspoon salt in a large Dutch oven with water to cover. Bring to a boil. Reduce heat; cover and simmer 3 hours or until meat is tender and separates from bones. Remove pig's feet from cooking liquid with a slotted spoon; drain well. Set aside. Discard cooking liquid.
Combine flour, 1/2 teaspoon salt, and pepper in a medium bowl. Combine milk and yolks; add to flour mixture, mixing well to form a thick batter.
Dip pig's feet into batter, coating well. Fry in hot oil (375°) until golden brown. Drain on paper towels; serve immediately.