Auxiliary Verb Definition

noun
A verb, such as have, can, or will, that accompanies the main verb in a clause and helps to make distinctions in mood, voice, aspect, and tense.
American Heritage
A verb used to help form the tenses, aspects, voices, or moods of other verbs, as will, have, do, be, should, must.
Webster's New World

(grammar) A verb that accompanies the main verb in a clause in order to make distinctions in tense, mood, voice or aspect.

Wiktionary
adjective
Attributive form of auxiliary verb, noun.
Wiktionary

Other Word Forms of Auxiliary Verb

Noun

Singular:
auxiliary verb
Plural:
auxiliary-verbs

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Unscrambles

auxiliary verb