Early 17th century; earliest use found in Thomas Palmer (?1541–1626), author. From classical Latin pedestr-, pedester, also pedestris going on foot, (of a statue) representing a person on foot, that goes on or by land (as opposed to by sea), in prose, prosaic (from pedes a person who goes on foot (from ped-, pēs foot + -es, after eques: see equestrian) + -ter, suffix forming nouns) + -al; compare -ial.