The constellation Lyra is connected to the constellation of the Swan (Cygnus). It has most commonly been named in association with music or birds. The ancient Britons called it King Arthur's Harp. In Bohemia it was called the Fiddle in the Sky. One legend states that the constellation of the Swan is the transformed hero Orpheus, who enchanted men and beasts alike with his harp or lyre, explaining why the constellations are connected.

Lyra has also been associated with birds, though. The name Vega for the constellation's foremost star comes from the Arabic word meaning Swooping Eagle or Vulture.