'antependium' originates from Medieval Latin, specifically the word 'antependium', where the prefix 'ante-' meant 'before/in front' and the root from Latin 'pendere' meant 'to hang'.

'antependium' passed into English from Medieval Latin 'antependium' (formed from Latin elements 'ante-' + 'pendere') with little change in form.

Initially it referred broadly to a hanging placed before something; over time it came to be used specifically for the ornamental cloth hung before an altar.