not open and aboveboard; secret and crafty or dishonorable: an underhand deal with the chief of police.
executed with the hand below the level of the shoulder and the palm turned upward and forward: an underhand delivery of a ball.
with the hand below the level of the shoulder and the palm turned upward and forward: to bowl underhand.
secretly; stealthily; slyly.

before 900; 1530–40 for def 1; Middle English under hande (adv.) under rule, Old English underhand. See under-, hand

1. stealthy, sly, clandestine, surreptitious.
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Based on the Random House Dictionary, © Random House, Inc. 2014.
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World English Dictionary
underhand (ˈʌndəˌhænd)
1.  clandestine, deceptive, or secretive
2.  sport another word for underarm
3.  in an underhand manner or style

Collins English Dictionary - Complete & Unabridged 10th Edition
2009 © William Collins Sons & Co. Ltd. 1979, 1986 © HarperCollins
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Word Origin & History

O.E. under hand "in subjection," from under + hand. Sense of "secret, stealthy, surreptitious" first recorded 1538. For sense development, cf. M.Du. onderhanden "by degrees, slowly," Du. onderhandsch "secret, private." The adj. is attested from 1545.
Online Etymology Dictionary, © 2010 Douglas Harper
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Example sentences
Shooting a basketball underhand gives your shot far better arc and spin.
The darts are intended to be grasped by the rod and thrown underhand toward a
Strike an object with an underhand and a side orientation.
The object is to throw the medicine ball back and forth over the net using a
  variety of overhead, underhand and side throws.
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