Definition of "saucy"

If this be knowne to you, and your Allowance, / We then haue done you bold, and ſaucie wrongs.

c. 1603–1604 (date written), William Shakespeare, “The Tragedie of Othello, the Moore of Venice”, in Mr. William Shakespeares Comedies, Histories, & Tragedies […] (First Folio), London: […] Isaac Iaggard, and Ed[ward] Blount, published 1623, [Act I, scene i], page 311, column 1, line 143

And books!—Thomson, Cowper, Scott;—she would buy them all over and over again; she would buy up every copy I believe, to prevent their falling into unworthy hands; and she would have every book that tells her how to admire an old twisted tree. Should not you, Marianne? Forgive me, if I am very saucy. But I was willing to shew you that I had not forgot our old disputes.

1811, [Jane Austen], chapter XVII, in Sense and Sensibility […], volume I, London: […] C[harles] Roworth, […], and published by T[homas] Egerton, […], page 216

Her mouth was large, and she had a saucy, pronounced chin.

1923, Lucy Maud Montgomery, “Chapter 8”, in Emily of New Moon

Saucy epaulet shoulder and full sleeves that fit into neat button trimmed cuffs.

1933, Stella Blum, Everyday Fashion of the Thirties as pictured in Sears Catalogs, published 1986, page 46

An episode of ITV1's The X Factor which featured a Britney Spears impersonator performing a "saucy" routine in a body stocking did not breach the broadcasting code, media regulator Ofcom has ruled.

2012 December 17, John Plunkett, “The X Factor did not breach code with 'saucy' dance routine, Ofcom rules”, in The Guardian‎