Valour is a related term of audaciousness.
As nouns the difference between valour and audaciousness
is that valour
is value; worth while audaciousness
is risky or daring behaviour.
Strength of mind in regard to danger; that quality which enables a person to encounter danger with firmness; personal bravery; courage; prowess; intrepidity.
(dated) A brave man; a man of valour.
Risky or daring behaviour.