Online Etymology Dictionary

desire (n.): c. 1300, from Old French desir, from desirer (see desire (v.)); sense of "lust" is first recorded mid-14c.
desire (v.): early 13c., from Old French desirrer (12c.) "wish, desire, long for," from Latin desiderare "long for, wish for; demand, expect," original sense perhaps "await what the stars will bring," from the phrase de sidere "from the stars," from sidus (genitive sideris) "heavenly body, star, constellation" (but see consider). Related: Desired; desiring.
desiderata (n.): plural of desideratum (1650s), from Latin, literally "something for which desire is felt," from past participle stem of desiderare "to long for" (see desire (v.)).
desirable (adj.): late 14c., from Old French desirable (12c.), from dasirer (see desire (v.)). Related: Desirably; desirability.
desirous (adj.): c. 1300, from Anglo-French desirous, Old French desirros (11c., Modern French désireux), from Vulgar Latin *desiderosus, from stem of Latin desiderare (see desire (v.)).
gold (adj.): c. 1200, from gold (n.); compare golden. In reference to the color of the metal, it is recorded from c. 1400. Gold rush is attested from 1859, originally in an Australian context. Gold medal as first prize is from 1757. Gold record, a framed, gold phonograph record to commemorate a certain level of sales, is from 1948.
Joe Grady and Ed Hurst, WPEN disk jockey team, will be given a gold record by Mercury of the one-millionth copy of Frankie Lane's waxing of That's My Desire, January 10, for having done so much to plug the platter in these parts [Philadelphia]. [Billboard, Jan. 10, 1948]
wanderlust (n.): 1902, from German Wanderlust, literally "desire for wandering" (see wander + lust).
greed (n.): "excessively eager desire to possess," c. 1600, a back-formation from greedy.
covet (v.): mid-13c., from Old French coveitier "covet, desire, lust after" (12c., Modern French convoiter, influenced by con- words), probably ultimately from Latin cupiditas "passionate desire, eagerness, ambition," from cupidus "very desirous," from cupere "long for, desire" (see cupidity). Related: Coveted; coveting.
Cupid: Roman god of passionate love, late 14c., from Latin Cupido, personification of cupido "desire, love," from cupere "to desire" (see cupidity). Identified with Greek Eros. Cupid's bow as a shape, especially of lips, is from 1858.
graphomania (n.): "morbid desire for writing," 1811, from Greek graphein "to write" (see -graphy) + mania. Related: Graphomaniac.
appetizing (adj.): "exciting desire or hunger," 1650s, from appetite on model of present participle adjective forms in -ing.
complaisance (n.): 1650s, from French complaisance (14c.), in Middle French "care or desire to please," from Medieval Latin complacentia (see complacence).
longing (n.): "yearning, desire," Old English langung "longing, weariness, sadness, dejection," from long (v.). Related: Longingly.
claustrophilia (n.): "morbid desire to be shut up in a confined space," 1884, from claustro-, abstracted from claustrophobia, + -philia.
list (v.4): "to be pleased, desire" (intransitive), a sense now archaic, mid-12c., lusten, listen "to please, desire," from Old English lystan "to please, cause pleasure or desire, provoke longing," from Proto-Germanic *lustjan (source also of Old Saxon lustian, Dutch lusten "to like, fancy," Old High German lusten, German lüsten, Old Norse lysta "desire, wish, have a fancy"), from *lustuz-, from PIE root *las- "to be eager, wanton, or unruly" (see lust (n.)). Related: Listed; listing.
Kama Sutra (n.): also Kamasutra, 1871, from Sanskrit Kama Sutra, name of the ancient treatise on love and sexual performance, from kama "love, desire," from PIE *ka-mo-, suffixed form of root *ka- "to like, desire" (see whore (n.)) + sutra "series of aphorisms" (see sutra).
venereal (adj.): early 15c., "of or pertaining to sexual desire or intercourse," from Latin venereus, venerius "of Venus; of sexual love," from venus (genitive veneris) "sexual love, sexual desire" (see Venus). Used of sexually transmitted diseases from 1650s. Related: Venereally.
optative: in reference to grammatical mood expressing wish or desire, 1520s, from Middle French optatif (15c.), from Late Latin optativus, from Latin optatus "wished, desired, longed for," past participle of optare "to choose, wish, desire" (see option).
appetence (n.): "strong desire," c. 1600, from French appétence "desire," from Latin appetentia "longing after something," noun of state from appetentem (nominative appetens), present participle of appetere, from ad "to" (see ad-) + petere "to seek, request" (see petition (n.)).
lust (v.): c. 1200, "to wish, to desire," from lust (n.) and Old English lystan (see list (v.4)). Sense of "to have a strong sexual desire (for or after)" is first attested 1520s in biblical use. Related: Lusted; lusting.
opt (v.): 1877, from French opter "to choose" (16c.), from Latin optare "choose, desire" (see option). To opt out is attested from 1922. Related: Opted; opting.
Hephzibah: fem. proper name, biblical, from Hebrew Hephtzibah, literally "my delight is in her," from hephtzi "my delight" (from haphetz "to delight, to desire") + bah "in her."
ardency (n.): 1540s, "warmth of feeling, desire," from ardent + -cy. A figurative sense, the literal meaning "intensity of heat" wasn't attested in English until 1630s.
satyriasis (n.): "excessively great venereal desire in the male," 1650s, medical Latin, from Greek satyriasis, from satyros (see satyr). Also in same sense satyromania (1889).
stage-struck (adj.): "possessed by a passionate desire to perform on stage," 1813, from stage (n.) + past participle adjective from strike (v.). Earlier was stage-smitten (1680s).
cupidity (n.): mid-15c., from Anglo-French cupidite, Middle French cupidité, from Latin cupiditatem (nominative cupiditas) "passionate desire, lust; ambition," from cupidus "eager, passionate," from cupere "to desire" (perhaps cognate with Sanskrit kupyati "bubbles up, becomes agitated," Old Church Slavonic kypeti "to boil," Lithuanian kupeti "to boil over"). Despite the primarily erotic sense of the Latin word, in English cupidity originally, and still especially, means "desire for wealth."
yearn (v.): Old English giernan (West Saxon), geornan (Mercian), giorna (Northumbrian) "to strive, be eager, desire, seek for, beg, demand," from Proto-Germanic *gernjan (source also of Gothic gairnjan "to desire," German begehren "to desire;" Old High German gern, Old Norse gjarn "desirous," Old English georn "eager, desirous," German gern "gladly, willingly"), from PIE root *gher- (5) "to like, want" (see hortatory). Related: Yearned; yearning.
appetite (n.): c. 1300, "craving for food," from Anglo-French appetit, Old French apetit (13c.) "appetite, desire, eagerness," from Latin appetitus "appetite," literally "desire toward," from appetitus, past participle of appetere "to long for, desire; strive for, grasp at," from ad- "to" (see ad-) + petere "go to, seek out" (see petition (n.)).

Of other desires or cravings, from late 14c. As an adjective form, OED lists appetitious (1650s) and appetitual (1610s) as "obsolete," but appetitive (1570s) continues.
ambition (n.): mid-14c., from Middle French ambition or directly from Latin ambitionem (nominative ambitio) "a going around," especially to solicit votes, hence "a striving for favor, courting, flattery; a desire for honor, thirst for popularity," noun of action from past participle stem of ambire "to go around" (see ambient).

Rarely used in the literal sense in English, where it carries the secondary Latin sense of "eager or inordinate desire of honor or preferment." In early use always pejorative, of inordinate or overreaching desire; ambition was grouped with pride and vainglory.
hortatory (adj.): 1580s, from Middle French hortatoire and directly from Late Latin hortatorius "encouraging, cheering," from hortatus, past participle of hortari "exhort, encourage, urge, incite, instigate," intensive of horiri "urge, incite, encourage."

This is conjectured to be from the reconstructed PIE root *gher- (5) "to like, want" (source also of Old English giernan "to strive, desire, yearn;" Gothic gairnei "desire;" Greek khresthai "to lack, want; use, make use of," kharis "grace, favor," khairein "to rejoice, delight in;" Sanskrit haryati "finds pleasure, likes," harsate "is aroused;" Avestan zara "effort, aim;" Russian zhariti "awake desire, charm").

Older in English is hortation (1530s), from Latin hortationem.
veneration (n.): early 15c., from Old French veneracion, from Latin venerationem (nominative veneratio) "reverence, profoundest respect," noun of action from past participle stem of venerari "to worship, revere," from venus (genitive veneris) "beauty, love, desire" (see Venus).
venial (adj.): c. 1300, "pardonable," from Old French venial "pardonable, excusable" (13c.) and directly from Late Latin venialis "pardonable," from Latin venia "forgiveness, indulgence, pardon," related to venus "sexual love, desire" (see Venus). Related: Venially.
parturient (adj.): "about to give birth," 1590s, from Latin parturientem (nominative parturiens), present participle of parturire "be in labor," literally "desire to bring forth," desiderative of parere "to bear" (see pare). Related: Parturiency.
aphrodisiac (n.): 1719, from Greek aphrodisiakos "inducing sexual desire," from aphrodisios, "pertaining to Aphrodite; sexual pleasure; a temple of Aphrodite," Greek goddess of love and beauty. As an adjective from 1830 (earlier was aphrodisical, 1719)
avid (adj.): 1769, from French avide (15c.), from Latin avidus "longing eagerly, desirous, greedy," from avere "to desire eagerly." Also in part a back-formation from avidity. Related: Avidly.
flagrance (n.): "glaring shamefulness," 1610s, from French flagrance or directly from Latin flagrantia "a glow, ardor, a burning desire," noun of quality from flagrantem "burning, blazing, glowing" (see flagrant). Related: Flagrancy (1590s).
arithmomania (n.): "compulsive desire to count objects and make calculations," 1890, from French arithmomanie, from Greek arithmos "number, counting, amount" (see arithmetic) + French -manie (see mania). Related: Arithmomaniac.
esurient (adj.): "inclined to eat," 1670s, from Latin esurientem (nominative esuriens), present participle of esurire "be hungry, hunger, desire to eat," from stem of edere "to eat" (see edible). Related: Esurience; esuriency.
inappetence (n.): "failure of appetite," 1690s, from French inappétence (16c.), from assimilated form of in- "not, opposite of" (see in- (1)) + appétence "desire" (for food); see appetence. Related: Inappetency (1610s).
letch (n.): "craving, longing, strong desire," 1796 [Grose], perhaps a back-formation from lecher, or deformed from a figurative use of latch (v.) in a secondary sense of "grasp, grasp on to." Or perhaps from letch (v.), a variant of leach.
list (n.4): c. 1200, "pleasure, enjoyment;" mid-13c., "desire, wish, will, choice," from list (v.4). Somehow English has lost listy (adj.) "pleasant, willing (to do something); ready, quick" (mid-15c.).
wish (v.): Old English wyscan "to wish, cherish a desire," from Proto-Germanic *wunsk- (source also of Old Norse œskja, Danish ønske, Swedish önska, Middle Dutch wonscen, Dutch wensen, Old High German wunsken, German wunschen "to wish"), from PIE *wen- (1) "to strive after, wish, desire" (see Venus). Related: Wished; wishing. Wishing well as an enchanted water hole attested by 1819.
anorexia (n.): 1590s, "lack of appetite," Modern Latin, from Greek anorexia, from an-, privative prefix, "without" (see an- (1)) + orexis "appetite, desire," from oregein "to desire, stretch out" (cognate with Latin regere "to keep straight, guide, rule;" see regal) + abstract noun ending -ia. In current use, often short for anorexia nervosa.
curiosity (n.): late 14c., "careful attention to detail," also "desire to know or learn" (originally usually in a bad sense), from Old French curiosete "curiosity, avidity, choosiness" (Modern French curiosité), from Latin curiositatem (nominative curiositas) "desire of knowledge, inquisitiveness," from curiosus (see curious). Neutral or good sense is from early 17c. Meaning "an object of interest" is from 1640s.
lustful (adj.): Old English lustfull "wishful, desirous, having an eager desire;" see lust (n.) + -ful. Specifically of sexual desire from 1570s. Related: Lustfully; lustfulness. Middle English also had lustsome, which was used in a sense of "voluptuous, lustful" from c. 1400. Old English had lustbære "desirable, pleasant, cheerful, joyous."
libido (n.): "psychic drive or energy, usually associated with sexual instinct," 1892, carried over untranslated in English edition of Krafft-Ebing's "Psychopathia Sexualis"; and used in 1909 in A.A. Brill's translation of Freud's "Selected Papers on Hysteria" (Freud's use of the term led to its popularity); from Latin libido, lubido "desire, eagerness, longing; inordinate desire, sensual passion, lust," from libere "to be pleasing, to please," ultimately cognate with Old English lufu (see love (n.)).
libidinous (adj.): "lustful," mid-15c., from Old French libidineus "sinful, lusty" (13c., Modern French libidineux) or directly from Latin libidinosus "full of desire, lustful," from libido "pleasure, desire, sensual passion, lust" (see libido). Related: Libidinously; libidinousness; libidinosity. These are older in English than libido, libidinal, which are from modern psychology.
lust (n.): Old English lust "desire, appetite, pleasure; sensuous appetite," from Proto-Germanic *lustuz (source also of Old Saxon, Old Frisian, Dutch, German lust, Old Norse lyst, Gothic lustus "pleasure, desire, lust"), from PIE *las- "to be eager, wanton, or unruly" (source also of Latin lascivus "wanton, playful, lustful;" see lascivious).

In Middle English, "any source of pleasure or delight," also "an appetite," also "a liking for a person," also "fertility" (of soil). Sense of "sinful sexual desire, degrading animal passion" (now the main meaning) developed in late Old English from the word's use in Bible translations (such as lusts of the flesh to render Latin concupiscentia carnis [I John ii:16]); the cognate words in other Germanic languages tend still to mean simply "pleasure."
prurient (adj.): 1630s, "itching," later, and now exclusively, "having an itching desire" (1650s), especially "lascivious, lewd," (1746), from Latin prurientem (nominative pruriens), present participle of prurire "to itch; to long for, be wanton," perhaps related to pruna "glowing coals," from PIE root *preus- "to freeze; burn" (see freeze (v.)). Related: Pruriently.