'ankus' originates from Sanskrit, specifically the word 'aṅkuśa', where 'aṅkuśa' meant 'goad' or 'hook'.

'aṅkuśa' passed into Prakrit and later into North Indian languages as Hindi 'ankush', and entered English (often via accounts of India) as 'ankus'/'ankush' in the 18th–19th century.

Initially it meant 'a goad or hook (for elephants)', and this basic meaning has been retained in English.