Definitions of canter:

• noun:   a smooth 3-beat gait; between a trot and a gallop
• verb:   ride at a canter

  Example: "The men cantered away"

• verb:   ride at a cantering pace

  Example: "He cantered the horse across the meadow"

• verb:   go at a canter, of horses
• name:  A surname (rare: 1 in 50000 families; popularity rank in the U.S.: #5132)