"gambol: To leap or spring, in dancing or sporting; now chiefly of animals or children.
caper: intr. To dance or leap in a frolicsome manner, to skip for merriment; to prance as a horse. Also with about, away
There’s also "cut capers", often "in the street".
flounce: intr. To make abrupt and jerky movements with the limbs or body; to throw the body about; to plunge, flounder, struggle. Also with about, up. Usually said of bulls, horses, or aquatic animals. to flounce it, said of a woman dancing"