"space equal to the length of a human arm," 1650s, from arm (n.1) + length. The figurative phrase at arm's end is recorded from 1570s.
Entries linking to arms-length
arm n.1
[upper limb of the human body], Middle English arm, from Old English earm, from Proto-Germanic *armaz (source also of Old Saxon, Danish, Swedish, Middle Dutch, German arm, Old Norse armr, Old Frisian erm), from PIE root *ar- "to fit together" (source also of Sanskrit irmah "arm," Greek arthron "a joint," Latin armus "shoulder").
Arm of the sea was in Old English. Arm-twister "powerful persuader" is from 1915. Arm-wrestling is from 1899.
They wenten arme in arme yfere Into the gardyn [Chaucer]
length n.
Old English lengðu "property of being long or extended in one direction; distance along a line," from Proto-Germanic *langitho, abstract noun from *langaz "long" (root of Old English lang; see long (adj.)) + *-itho, abstract noun suffix (see -th (2)). Cognate with Old Norse lengd, Old Frisian lengethe, Dutch lengte.
Figurative sense of "the distance one goes, extremity to which something is carried" is from 1690s. Phrase at length "to full extent" is attested from c. 1500. As "the length of a swimming pool," 1903. From the notion of "a piece or portion of the extent of anything" come the theater slang sense "a 42-line portion of an actor's part" (1736) and the sporting sense "the length of a horse, car, etc. in a race" used as a unit of measure (1650s).