The first 'yo mama's' joke was in 3500 BCE and was popularized by Shakespeare.

3500 BCE:
"...of your mother is by the one who has intercourse with her. What or who is it?"

Shakespeare:
Titus Andronicus:

Demetrius: "Villain, what hast thou done?"
Aaron: "That which thou canst not undo."
Chiron: "Thou hast undone our mother."
Aaron: "Villain, I have done thy mother."