Middle English priken, from Old English prician "to pierce with a sharp point, prick out, place a point, dot, or mark upon; sting; cause a pricking sensation," from West Germanic *prikojan (source also of Low German pricken, Dutch prikken "to prick"), of uncertain origin. Danish prikke "to mark with dots," Swedish pricka "to point, prick, mark with dots" probably are from Low German. Related: Pricked; pricking.
From c. 1200 in a figurative sense of "to cause agitation, to distress, to trouble;" late 14c. as "incite, stir to action." Pricklouse (c. 1500) was a derisive name for a tailor. To prick up (one's) ears is 1580s, originally of animals with pointed ears (prycke-eared, of foxes or horses or dogs, is from early 15c.).
thou prick-ear'd cur of Iceland!
["Henry V," ii. 1. 44.]
Prick-me-dainty (1520s) was an old term for one who is affectedly finical.