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In page Procellariiformes:

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The word petrel (first recorded in that spelling 1602) comes from likely earlier (though not recorded until 1676) pitteral or pittrel, and refers to the way the storm petrel patters with its feet over the sea surface.[2] The English explorer William Dampier wrote[citation needed] the bird was so called from its way of flying with its feet just skimming the surface of the water, recalling Saint Peter's walk on the sea of Galilee (Matthew xiv.28), being formed in English as a diminutive of Peter (< Old French: Peterelle (?) < Late Latin: Peterellus < Late Latin: Petrus < Ancient Greek: Πέτρος, romanized: Petros < Ancient Greek: πέτρα, romanized: petra = "stone"); this connection is however due to later speculation.[2]