'ankus' originates from Sanskrit, specifically the word 'aṅkuśa' (also written 'ankusha'), where the root referred to a 'hook' or 'goad'.

'ankus' passed into English via Hindi/Urdu 'ankush' (or 'ankusha') and was recorded in English usage in the 18th–19th centuries; the Sanskrit 'aṅkuśa' is the older source.

Initially it meant 'hook' or 'goad' (the physical hooked instrument), and over time it has retained that core meaning as the specific implement used to control elephants.