Researchers found the word was first used in 1820, spelt 'twirk', to refer to a twisting or jerking movement or twitch.
The word is one of 500 new entries, including 'twitterati', 'meh' and 'fo' shizzle' added to the Oxford English Dictionary (OED).
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Cyrus, an American singer, songwriter, and actress, performed the raunchy dance move at an MTV awards show in New York in 2013.
The OED describes twerking as dancing "in a sexually provocative manner, using thrusting movements of the bottom and hips while in a low, squatting stance".
The OED said the word in its current form has its roots in the early 1990s New Orleans "bounce" music scene, but the exact origin of twerk is uncertain, 'BBC news' reported.
The dictionary noted twerk may have been a blend of the words twist or twitch and jerk.
"We are confident that it has the same origins as the dance," said Fiona McPherson, senior editor of Oxford English Dictionary.
"There has been constant use up into the present day to mean that same thing. I think it's quite spectacular, the early origins for it. We were quite surprised," McPherson said.
The other new OED entries include 'gimmick' which means a night out with friends and 'cisgender' - designating a person whose sense of personal identity matches their gender at birth.
Other words added to the dictionary are 'guerrilla' which describes activities carried out in an irregular and spontaneous way; 'twitterati' describing users of the social media service Twitter and 'Fo' shizzle' which means for sure.
'E-cigarette', a battery powered device containing nicotine, has also made it to the dictionary along with 'webisode', a short video of a TV programme shown online, and 'crowdfund' which means to fund a project from lots of people who usually donate small sums online.
"Meh", an interjection expressing lack of enthusiasm, has also been included in the dictionary.
Twerking first entered the Oxford Dictionary of English, which recognises popular usage of words, in 2013.
While Oxford Dictionaries focuses on the current language and practical usage, the OED shows how words and meanings have changed over time.
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