Until a few months ago, I had always assumed this was "my lady". Is this anything more than an odd contraction of "my lady"? I couldn't find much on the etymology of this.
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According to the Oxford English Dictionary, milady emerged in 1778 that partially came from French:
This first definition was:
This was gradually adopted by the English, so it was not solely a contraction of "my lady". Similarly, milord came from French as well:
Yes, milady comes from "my lady".
And here's some background on milord: