The incident happened on Tuesday when they were due to board their coach to the airport at 9am.
The 17-year-old apparently refused to board the coach so his parents decided to leave him in the hotel despite him having no accommodation booked or anyone to look after him, and headed to the airport.
The parents were arrested on arrival at Palma airport.
The unnamed parents went before a judge in Inca yesterday while their children were being looked after at a child welfare centre.
They were handed a one-year suspended jail sentence after admitting to wrongdoing.
They are understood to have been reunited with their children, including the 17-year-old, after the speedy trial and given permission to return home.