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]

Moby Thesaurus II by Grady Ward, 1.0:

164 Moby Thesaurus words for "saunter":
   airing, amble, andante, barge, bat around, bowl along, bum, bundle,
   claudicate, claudication, clump, constitutional, count ties, crawl,
   creep, dead march, divagate, dogtrot, drag, drag along, drag out,
   drift, droop, flit, flounce, foot, footpace, footslog,
   forced march, funeral march, gad, gad about, gait, gallivant,
   gallop, go about, go dead slow, go slow, go the rounds, halt, hike,
   hippety-hop, hit the road, hit the trail, hitch, hobble, hobo, hop,
   idle, inch, inch along, jaunt, jog, jog trot, jog-trot, jolt, jump,
   knock about, knock around, laze, leisurely gait, limp, linger,
   lock step, loiter, lumber, lumbering pace, lunge, lurch, march,
   meander, mince, mincing steps, mooch, mope, mosey, muck, mush,
   nomadize, pace, paddle, parade, peg, peregrinate, pererrate,
   peripatetic journey, peripateticism, piaffe, piaffer, plod, poke,
   poke along, prance, promenade, prowl, rack, ramble, range, roam,
   roll, rove, run about, sashay, schlep, scuff, scuffle, scuttle,
   shamble, shuffle, shuffle along, sidle, single-foot, skip, slink,
   slither, slog, slouch, slow march, slow motion, slowness, stagger,
   stagger along, stalk, stamp, step, stomp, straddle, straggle,
   stray, stretch, stride, stroll, strolling gait, strut, stump,
   swagger, swing, tarry, tittup, toddle, toddle along, totter,
   totter along, traipse, tramp, tread, trip, trot, trudge, turn,
   vagabond, vagabondize, velocity, waddle, walk, walk the tracks,
   walking tour, wamble, wander, wayfare, wiggle, wobble, worm,
   worm along