'perceiver' originates from Latin via Old French and Middle English, specifically from Latin 'percipere' (or 'percipĕre'), where 'per-' meant 'thoroughly' and 'capere' (from which 'cipere' is formed) meant 'to take'.

'perceiver' changed from Middle English and Old French forms of the verb (Old French 'percevoir' / Middle English 'perceiven' from Latin 'percipere') and later had the agentive suffix '-er' added in English to form the noun 'perceiver'.

Initially it carried the sense 'to take or seize' (grasp), and over time the meaning shifted toward 'to become aware of or apprehend (by the senses or the mind)', which is its modern sense.