The Collaborative International Dictionary of English v.0.48:

Limp \Limp\ (l[i^]mp), v. i. [imp. & p. p. Limped (l[i^]mt;
   215); p. pr. & vb. n. Limping.] [Cf. AS. lemphealt lame,
   OHG. limphen to limp, be weak; perh. akin to E. lame, or to
   limp, a [root]120.]
   To halt; to walk lamely. Also used figuratively. --Shak.
   [1913 Webster]