c. 1300, ladde "foot soldier," also "young male servant; man of low social position, vagabond" (attested as a surname from late 12c.), possibly from a Scandinavian language (compare Norwegian -ladd, in compounds for "young man"), but of obscure origin in any case.
The meaning "boy, youth, young man" is from mid-15c.
Liberman (2008) derives it from Old Norse ladd "hose; woolen stocking." "The development must have been from 'stocking,' 'foolish youth' to 'youngster of inferior status' and (with an ameliorated meaning) to 'young fellow.'" He adds, "Words for socks, stockings, and shoes seem to have been current as terms of abuse for and nicknames of fools."
In modern use often familiar or affectionate, in Middle English an insult or term of contempt, e.g. "Where has þou bene so long fro me, Vyle stynkand lad?" in the Towneley mystery plays, also 15c. phrase "(to know) a lord from a lad."
For connection of "youth" and "servant" compare knave. Related: Ladage "boyhood."