Venturesome, a.
Inclined to venture; not loth to run risk or danger; venturous; bold; daring; adventurous; as, a venturesome boy or act. -- Ven"ture*some*ly, adv. -- Ven"ture*some*ness, n.
Shades of meaning
Fernald has no entry of its own for venturesome; he lists it under brave.
Where he writes about it:
The adventurous find something romantic in dangerous enterprises; the venturesome may be simply heedless, reckless, or ignorant. — from brave
All great explorers have been adventurous; children, fools, and criminals are venturesome. — from brave