Pruning citrus trees

We have some established citrus trees on our new propery (a lemon, a mandarin and a grapefruit).  They are all fruiting at the moment, with mixed results (the lemons are ugly but tasty, the mandarins are tiny and the grapefruit are excellent).

 

However, they are all too large, and the lemon in particular is very spidery (only a few branches and the fruit are a long way from the trunk). 

 

Therefore, we are wanting to prune them back, and probably need prune fairly hard.

 

Does anyone have some tips or information on the following:

- how best to prune (all at once, or gradually over several years)

- how to ensure we get the fruit back as soon as possible

- tips for successful pruning

 

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