The Collaborative International Dictionary of English v.0.48:

Saunter \Saun"ter\, v. i. [imp. & p. p. Sauntered; p. pr. &
   vb. n. Sauntering.] [Written also santer.] [Probably fr. F.
   s'aventurer to adventure (one's self), through a shortened
   form s'auntrer. See Adventure, n. & v.]
   To wander or walk about idly and in a leisurely or lazy
   manner; to lounge; to stroll; to loiter.
   [1913 Webster]

         One could lie under elm trees in a lawn, or saunter in
         meadows by the side of a stream.         --Masson.
   [1913 Webster]

   Syn: To loiter; linger; stroll; wander.
        [1913 Webster]

The Collaborative International Dictionary of English v.0.48:

Saunter \Saun"ter\, n.
   A sauntering, or a sauntering place.
   [1913 Webster]

         That wheel of fops, that saunter of the town. --Young.
   [1913 Webster]

WordNet (r) 3.0 (2006):

saunter
    n 1: a careless leisurely gait; "he walked with a kind of
         saunter as if he hadn't a care in the world"
    2: a leisurely walk (usually in some public place) [syn:
       amble, promenade, saunter, stroll, perambulation]
    v 1: walk leisurely and with no apparent aim [syn: stroll,
         saunter]