"lurk near a place to hear what is said inside," c. 1600, probably a back-formation from eavesdropper. The original notion is listening from under the eaves of a house. Related: Eavesdropping.
Entries linking to eavesdrop
eavesdropper n.
mid-15c., with agent-noun ending + Middle English eavesdrop, from Old English yfesdrype "place around a house where the rainwater drips off the roof," from eave (q.v.) + drip (v.). Technically, "one who stands at walls or windows to overhear what's going on inside."