quadruped (n.)
1640s, from French quadrupède (16c.), from Latin quadrupes (genitive quadrupedis) "four-footed, on all fours," also, as a noun, "a four-footed animal," from quadri- "four" (see quadri-) + pes "foot" (see foot (n.)). The adjective is attested from 1741. Related: Quadrupedal (1610s).