Context. The well known radiogalaxy Cen A has been recently detected as a source of very high energy (VHE) γ-rays by the HESS experiment just before Fermi/LAT detected it at high energies (HE). The detection, together with that of M 87, established radiogalaxies as VHE γ-ray emitters. Aims. The aim of this work is to present a lepto-hadronic model for the VHE emission from the relativistic jets in FR I radiogalaxies. Methods. We consider that protons and electrons are accelerated in a compact region near the base of the jet, and they cool emitting multi wavelength radiation as propagating along the jet. The proton and electron distributions are obtained through steady-state transport equation taking into account acceleration, radiative and non-radiative cooling processes, as well as particle transport by convection. Results. Considering the effects of photon absorption at different wavelengths, we calculate the radiation emitted by the primary protons and electrons, as well as the contribution of secondaries particles (e ± , πs and μs). The expected high-energy neutrino signal is also obtained and the possibility of detections with KM3NeT and IceCube is discussed. Conclusions. The spectral energy distribution obtained in our model with an appropriate set of parameters for an extended emission zone can account for much of the observed spectra for both AGNs.