C17: from Latin quadrupēs, from quadru- (see quadri-) + pēs foot
Word Origin and History for 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).
quadruped in Science
quadruped
(kwŏd'rə-pěd') An animal having four feet, such as most reptiles and mammals.