From The Collaborative International Dictionary of English v.0.44 [gcide]:
Palfrey \Pal"frey\, noun [OE. palefrai, OF. palefrei, F. palefroi, LL. palafredus, parafredus, from L. paraveredus a horse for extraordinary occasions, an extra post horse; Gr. para' along, beside + L. veredus a post horse.]
1. A saddle horse for the road, or for state occasions, as distinguished from a war horse. --Chaucer.
2. A small saddle horse for ladies. --Spenser.
Call the host and bid him bring Charger and palfrey. --Tennyson.
From WordNet (r) 2.0 [wn]:
noun
1: especially a light saddle horse for a woman
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