这个词最早出现在1868年，由前缀 bi-（意为“二”）和拉丁化的希腊词 kyklos（意为“圆圈，轮子”，参见 cycle (n.)）组合而成，模仿了 tricycle（三轮车）的构词方式。这个词和对应的交通工具逐渐取代了早期的 velocipede（踏板车）。
一些词典认为这个英语词汇可能并非源自法语，但1868年的引用却是在法语背景下：
The velocipedes, about which the Parisians have run mad at the present moment, are of various kinds. ... The two wheel velocipedes, the bicycles as they are styled, are intended for the male sex only, and are by far the swiftest machines. ["Supplement to the Courant," Hartford, Conn., Dec. 16, 1868].
“目前巴黎人疯狂追捧的踏板车，种类繁多……那些被称为‘自行车’的双轮踏板车，仅供男性使用，速度也是所有机器中最快的。”——《哈特福德 courant》补充版，康涅狄格州哈特福德，1868年12月16日。
Pierre Lallement是一名法国马车制造厂的员工，他在1865年改进了Macmillan于1839年发明的踏板踏车，并将这一发明带到了美国。另见 pennyfarthing（高轮自行车）。作为动词使用，始于1869年。
The velocipede of 1869 was worked by treadles operating cranks on the axle oi the front wheel. This was modified in the earliest form of the bicycle by greatly increasing the relative size of the driving-wheel and bringing the rider directly over it. Later the "safety" bicycle was introduced, in which the wheels were made of equal or nearly equal size, and for the direct action upon the front wheel was substituted indirect action upon the rear wheel, by means of a chain and sprocket-wheels .... [Century Dictionary]
“1869年的踏板车通过踏板驱动前轮轴上的曲柄。这一设计在最早期的自行车中被改进，主要通过增大驱动轮的相对尺寸，并将骑行者直接置于其上方。后来出现了‘安全型’自行车，前后轮尺寸相等或几乎相等，前轮的直接驱动被链条和齿轮的间接驱动所取代……”——《世纪词典》
