MySQL : Huge table truncation in replication environment

We have 2 tables of size 186G and 63G that are no longer in use and needs to be truncated from the database. I cannot directly run the truncate table statement on the master DB as it has 14 replicas dependent on it and it would cause a lag on the replicas as we have binlog row format set. I tried deleting some records from the table but it is causing a lag on the replicas. The master server is a busy server and receives read/write requests frequently. Is there any way to perform this task without any impact/with minimum lag on the replicas.