Etymology
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audacity (n.)

early 15c., "boldness, courage, daring; vigor, animation," from Medieval Latin audacitas "boldness," from Latin audacis genitive of audax "bold, daring; rash, foolhardy" (see audacious). In English, the meaning "presumptuous impudence," implying contempt of moral restraint, is from 1530s.

updated on March 02, 2017

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Definitions of audacity from WordNet

audacity (n.)
fearless daring;
Synonyms: audaciousness / temerity
audacity (n.)
aggressive boldness or unmitigated effrontery;
he had the audacity to question my decision
Synonyms: audaciousness
From wordnet.princeton.edu, not affiliated with etymonline.