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Chivalry came into Middle English from medieval Latin caballerius, based on Latin caballus, “horse.” It first referred collectively to knights, noblemen, or horsemen, then developed the sense of the ideal knightly qualities of courage, honour, loyalty, and courtesy.
Etymology
From Middle English chivalerie, borrowed from Old French chevalerie, 'knighthood, cavalry, or knightly conduct.' It derives from chevalier, 'knight or horseman,' ultimately from Late Latin caballarius, from caballus, 'horse.' The word moved from mounted warriors and their status to the ethical ideals attributed to them.