pi·ca·ra (p??kä-rä?)n. pl. pi·ca·ras (-räz?, -räs?) 1. A woman who is a rogue or adventurer.2. The main character in a picaresque novel when that character is a woman or girl.[Spanish pícara, feminine of pícaro, rogue; see picaro.]American Heritage® Dictionary of the English Language, Fifth Edition. Copyright © 2016 by Houghton Mifflin Harcourt Publishing Company. Published by Houghton Mifflin Harcourt Publishing Company. All rights reserved.picara (?p?k?r?; ?pi?k-) n (Literary & Literary Critical Terms) literature the main female character in a picaresque novelCollins English Dictionary ? Complete and Unabridged, 12th Edition 2014 © HarperCollins Publishers 1991, 1994, 1998, 2000, 2003, 2006, 2007, 2009, 2011, 2014pic?a?ra (?p?k ?r ?, ?pi k?r ?) n., pl. -ras. a woman who is a rogue or vagabond. [1925?30;