'limp' originates from Middle English, specifically the word 'limpen' (or similar variants), where the root is of uncertain origin but is associated with meaning 'to be lame or to walk awkwardly'.

'limp' changed from Middle English 'limpen' and eventually became the modern English word 'limp' through regular phonological simplification.

Initially, it meant 'to be lame or to walk unevenly', and over time it retained that core sense while also gaining an extended figurative meaning of 'weak or ineffective'.