Canter
WordNet
noun
(1) A smooth three-beat gait; between a trot and a gallop
verb
(2) Ride at a canter
"The men cantered away"
(3) Ride at a cantering pace
"He cantered the horse across the meadow"
(4) Go at a canter, of horses
WiktionaryText
Etymology
Short for Canterbury pace, from the supposed easy pace of medieval pilgrims to Canterbury.