pertaining to, characteristic of, or characterized by a form of prose fiction, originally developed in Spain, in which the adventures of an engagingly roguish hero are described in a series of usually humorous or satiric episodes that often depict, in realistic detail, the everyday life of the common people: picaresque novel; picaresque hero.
of or relating to a type of fiction in which the hero, a rogue, goes through a series of episodic adventures. It originated in Spain in the 16th century
2.
of or involving rogues or picaroons
[C19: via French from Spanish picaresco, from pícaro a rogue]
1810, from Sp. picaresco "roguish," from picaro "rogue," possibly from picar "to pierce," from V.L. *piccare (see pike (2)). Originally in roman picaresque "rogue novel," the classic example being "Gil Blas."