To walk slowly and with difficulty because of having an injured or painful leg or foot. (Cambridge Dictionary)
To walk lamely. (Merriam – Webster)
To walk favouring one leg. (Merriam – Webster)
To go unsteadily: Falter. (Merriam – Webster)
Walk with difficulty, typically because of a damaged or stiff leg or foot. (Oxford Dictionaries)
If a person or animal limps, they walk with difficulty or in an uneven way because one of their legs or feet is hurt. (Collins Dictionary)
Learning to walk with a limp.
Causes of Limp in Children.