Green’s Dictionary of Slang

scamp n.

[Scot. scamp, to wander, to shirk; note late 16C scampant, a burlesque ‘coat-of-arms’, modelled on SE rampant and illustrating ‘a roge in his ragges’ (OED)]

1. [mid-18C–early 19C] highway robbery.

2. [mid-18C–mid-19C] (also scamp cull) a highwayman.

3. [early 19C–1910s] a cheat, a swindler.

4. [mid–late 19C] (UK Und.) a footpad; a thief.

In derivatives

scamperer (n.) (also scamper)

[early 18C–mid-19C] a street thug.

In compounds

scampsman (n.) (also scampman)

[late 18C–mid-19C] a highwayman.

In phrases

foot-scamp (n.) (also scamp-foot)

[late 18C–mid-19C] (UK Und.) a highway robber.

foot scamper (v.)

[mid-18C] (UK Und.) to work as a highway robber; also as n.

foot scamperer (n.)

[18C] (UK Und.) a highway robber who works on foot.

on the scamp (also upon the scamp)

[mid-18C–early 19C] working as a highwayman.

royal scamp (n.) [the highwayman of romantic fiction rather than of the recorded type]

[late 18C–mid-19C] a highwayman who specializes in robbing rich victims and in causing them no physical harm.