can·ter 
(kăntər)
(kăntər)n.
1. A smooth three-beat gait of a horse that is slower than a gallop but faster than a trot, in which the feet touch the ground in the three-beat sequence of near hind foot, off hind foot and near front foot, off front foot.
2. A ride on a horse moving with this gait.
v. can·tered, can·ter·ing, can·ters
v.intr.
To go or move at a canter.
v.tr.
To cause (a horse) to go at a canter.
[Ultimately from phrases such as Canterbury gallop, after Canterbury, England, toward which pilgrims rode at an easy pace.]