To make a cynical or sarcastic remark about someone or something; to satirize or mock indirectly.
彼は部下の失敗を見てすぐに皮肉った。
He immediately made a sarcastic remark when he saw his subordinate's mistake.
そんな言い方だと相手を傷つけるから、皮肉るのはやめなさい。
That way of speaking will hurt the other person, so stop making sarcastic remarks.
彼女は冗談交じりに皮肉って、その場の空気を変えた。
She made a jokingly sarcastic comment and changed the mood of the room.