'canter' originates from Middle English, specifically from the phrase 'Canterbury gallop' (referring to the pace associated with pilgrims traveling to Canterbury).

'canter' changed from the Middle English phrase referring to the 'Canterbury' pace (often described as the 'Canterbury gallop' or 'Canterbury pace') and eventually became the modern English verb 'canter'.

Initially, it meant 'to move at the pace associated with Canterbury pilgrims' (the 'Canterbury gallop'), but over time it evolved into its current meaning of 'to move at a gentle/steady gallop — an easy gallop between trot and full gallop'.