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]

WordNet (r) 3.0 (2006):

limping
    n 1: disability of walking due to crippling of the legs or feet
         [syn: lameness, limping, gimp, gimpiness,
         gameness, claudication]

Moby Thesaurus II by Grady Ward, 1.0:

73 Moby Thesaurus words for "limping":
   ambling, bad, castrated, cautious, circumspect, claudicant,
   crawling, creeping, creeping like snail, crippled, deliberate,
   disabled, easy, emasculated, faltering, flagging, foot-dragging,
   game, gentle, gradual, halt, halting, hamstrung, handicapped,
   hobbled, hobbling, idle, incapacitated, indolent, lame, languid,
   languorous, lazy, leisurely, lumbering, maimed, moderate, poking,
   poky, relaxed, reluctant, sauntering, shuffling, slack, slothful,
   slow, slow as death, slow as molasses, slow as slow, slow-crawling,
   slow-foot, slow-going, slow-legged, slow-moving, slow-paced,
   slow-poky, slow-running, slow-sailing, slow-stepped, sluggish,
   snail-paced, snaillike, spavined, staggering, strolling, tentative,
   toddling, tortoiselike, tottering, trudging, turtlelike, unhurried,
   waddling