'nudge' originates from uncertain/unknown origins; it is possibly from late Middle English dialect forms such as 'nuggen' or from an imitative origin relating to a light push or poke.

'nudge' appears in late Middle English/early Modern English (c.16th century) in forms like 'nuggen' and later stabilized as the modern English verb and noun 'nudge'.

Initially, it referred to a light physical push or poke; over time it retained that physical sense and also developed a figurative sense of subtly encouraging or prompting someone.