The Collaborative International Dictionary of English v.0.48:

Venturous \Ven"tur*ous\, a. [Aphetic form of OE. aventurous. See
   Adventurous, Venture, n.]
   Daring; bold; hardy; fearless; venturesome; adventurous; as,
   a venturous soldier. --Spenser.
   [1913 Webster]

         This said, he paused not, but with venturous arm
         He plucked, he tasted.                   --Milton.
   [1913 Webster] -- Ven"tur*ous*ly, adv. --
   Ven"tur*ous*ness, n.
   [1913 Webster]