'sensual-lipped' originates from the combination of 'sensual' and 'lipped', where 'sensual' is derived from Latin 'sensualis', meaning 'pertaining to the senses', and 'lipped' refers to the characteristic of having lips.

'Sensual' changed from the Latin word 'sensualis' and eventually became the modern English word 'sensual'. 'Lipped' is derived from the Old English 'lippa', meaning 'lip'.

Initially, 'sensual' meant 'pertaining to the senses', but over time it evolved to imply 'arousing or exciting the senses'.